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Automated Remote Manipulation is both an area of great practical utility for Navy Undersea Operations, and a prime example of new type of man-machine interaction in which the human operator must supervise and control a complex and adaptive man-computer system. This report presents the results of an experimental study focusing on man-machine communication with computer-aided manipulators. This report describes (1) underwater manipulator functions and operator performance requirements in remote manipulation, (2) the development oa a theoretical man-machine communication model based on procedural sets, and (3) an experimental investigation on the effect of several elementary computer aiding techniques on the ability of trained operators to perform selected remote manipulation tasks. The results of the experimental investigation indicated that computer aiding can significantly decrease task performance times for a number of remote manipulation tasks. Computer aiding in the form of resolved motion and automated control significantly reduced the times required to perform valve turning and ring manipulation tasks. The results also indicated that if higher-level aiding schemes are to be effective in terms of improving man-machine performance, the design of the communications language and interface must be carefully designed to maintain the communication goals of naturalness, simplicity and understandability. (Author)