My design incorporates the standard idea of two pontoons with a hull that extends the entire distance between the pontoons; all of which are covered and connected by the 1/8" acrylic sheet cut out. The acrylic sheet has an opening over the hull so that the arduino board can be easily accessed for modifications.
The motor for the drive system is attached under the acrylic sheet, just outside of the hull. A single gear can be utilized and supported via securing it to the acrylic/hull at multiple spots. Like the motor, the rudder system using the servo motor runs wires above the surface of the boat.
Simple Sketch:
Solidworks Model:
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