In the S-55, he located the passenger/cargo cabin directly under the rotor and the fuel tanks directly under the cabin, minimizing cg travel due to loading/unloading passengers/cargo and fuel burn. The engine, which had been located directly under the rotor to simplify the drive train, was moved to the nose. The cockpit, which had been in the nose, was relocated above and forward of the cabin. The Army awarded him a development contract for it on behalf of the U.S. Air Force as the YH-19. First flight was accomplished on 7 November 1949.
A military service has always been quick to adapt a successful helicopter design to its own mission requirements whenever one is generally suitable, since helicopter development generally had and has a low priority relative to other demands for funds. And so it was that the Navy, needing an ASW dipping-sonar test and evaluation helicopter until Bell's HSL ASW helicopter (see http://tommythomason.com/books/Bell-HSL/) completed development, procured the S-55 as its HO4S-1 in April 1950. The 600 hp takeoff rating of the -1's P&W R-1340 proved inadequate for the hover performance required for the dipping-sonar mission so it was replaced for HO4S-3 production with the Wright R-1300 with an 800 hp takeoff rating, although at least initially it was limited to 700 hp by the helicopter's drive system.
As a result of the delays in the development of the Bell HSL that was intended to be the Navy's operational ASW dipping-sonar helicopter, the Navy procured the HO4S-3 as a placeholder until either the Bell HSL or the backup program it had initiated with Sikosky for the HSS (now better known as the H-34) could be deployed.
The multi-tank fuel system in the belly of the fuselage allowed for an opening in the bottom of the fuselage for deployment of the sonar.
Note the large oval-shaped fairing on the belly around the opening. My guess is that this covered up the fuel lines that interconnected the tanks and I would appreciate receiving a more informed explanation.
The bottom of the sonar dome could extend beyond the bottom of the fuselage when not fully retracted. (Note that this HO3S does not have a rescue hoist.)
The configuration of the sonar dome changed over time the one utilized by the HO3S looked like this.
The "ball" was flat on one side, with the antenna surface protected by a wire screen.
The cable reel was housed in the cabin. The enclosure design also changed over time so this may just be representative.
The sonar operator's station looked something like this (there may have been a second seat beside it in some cases):
He could control the depth of the sonar and determine the distance and relative bearing of a contact.
The HO3S-3 could be armed with a single Mk 43 homing torpedo that was mounted on and dropped from a variable-angle rack on the left hand side of the fuselage.
This is the best picture I have of the rack:
This is the HSS rack, which appears to be very similar (note that the forward sway brace has been "cut off" by the draftsman so as not to hide details behind it).
The "lever" extending aft of the rack pulled out the pin from the torpedo that armed it and/or started its turbine.
The addition of the 375-lb torpedo generally limited the operational use of the HO3S to hunter-killer tactics, with the three-man crew of the hunter (pilot, copilot, and sonar operator) reduced to two (pilot and "bombardier") when the torpedo was carried.
Note that the Air Force and Army H-19s were subsequently modified with a different tail boom, bigger vertical fin, and much smaller horizontal stabilizer with no anhedral.
Angling the tail boom down reduced the propensity of main rotor blade strikes on it. As far as I know, no Navy or Marine S-55s received this mod.
Information on and illustrations of the Royal Canadian Navy HO3S-3 can be found here: http://jproc.ca/rrp/rrp3/ho4s3.html