1-foil; 2-solenoid valve; 3- sealing gasket; 4-water bag; 5-cover for draining; 6-clapboard; 7-pump; 8-motor component; 9-depth sensor; 10-nether shell; 11-mounting plate; 12-PC104; 13-rudder; 14-steering gear; 15-motor actuator; 16-attitude sensor; 17-battery component; 18-cover for checking
Figure 6: Schematic drawing of the integrated layout of the UUV.