Association is where an object of one class may be association with 0 or more objects of another class etc. 

Association with navigability says further that that one object can tell you the 0 or more with which it’s associated.  The object which can tell you is the one at the non-arrowed end. 

Generalisation is where one class has others inheriting from it.

Realisation is where a class realises an interface

Dependency of A to B means that if B changes, A may need to change as well but not the other way round.  The line is
always from the class that is dependent to the one which it is dependent on.