Get waterproof servos and cover the boards with Bioplastic in a waterproof case.
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Use the search, I see several guides in the related sidebar. rickharris makes a good point, if you have no idea where to start and are asking general questions here building a land based robot first is probably a good idea.
Lets think this through.1. you have to be able to build a surface robot first - this will teach you a lot of the techniques and information you need to make a submersible.2. Your going to have to make some design decisions - these may be best done on paper with a pencil i.e. lots of drawings and thinking.3. What sort of control do you want - Through a cable saves the cost of radio control and the complexity of microprocessor control. It also allows you to supply power from on shore so the robot need not carry heavy batteries.4. Once you get a land based robot to do the sort of things you want the submersible to do then you need to start looking at boats and how to control them.5. once you have cracked boat control you can start to think about waterproofing, how to make a submarine rise and fall, how to see what it is doing under water, how to drive it around.Start at the beginning and don't try to run before you can walk.
Like this: LINK.
Simple. Just take your land robot and throw it in a lake. then its an underwater robot.