## 5 The Concept of HSFW Development
The technical elements of HSFW1 consist of a computer (Jetson nano or Raspberry), a video camera, and a gyro-suspension of the camera. The HSFW2 hardware includes elements of the LIF spectrometer, which were described in Section 3. The HSFW3 equipment includes radio communication equipment, sensors, a battery, engines, a flight controller, autopilot, and autonomous landing equipment. The AI of the drone is represented by the AI elements of the three subframeworks and a priority decision-making element. AI of HSFW1 consists of software computer vision, as well as AI elements of slick detection and classification. AI of HSFW2 consists of the AI element of the LIF spectrum classification and determination of the concentration of dissolved oil products in seawater, as well as software to ensure the operation of the LIF spectrometer. AI of HSFW3 includes the AI element of the autopilot, including software for landing on a moving object, splashdown, and takeoff from the water surface, as well as AI element of computer vision for the purpose of autonomous navigation. Figure 9 shows a diagram of the HSFW functions. Figure 8: Block diagram of HSFW for monitoring pollution of marine areas with oil products. Figure 9: Diagram of HSFW functions. The functional purpose of HSFW is an autonomous monitoring mission. HSFW includes three independent sub-frameworks (HSFW1, HSFW2, and HSFW3) and the priority artificial intelligence element. The functional purpose of the priority element is to make the most important decisions regarding the monitoring mission according to the results of the three sub-frameworks. These decisions are a priority for implementation. HSFW1 consists of computer vision hardware and artificial intelligence elements for the analysis and interpretation of video images of oil slicks on the sea surface. The functional purpose of HSFW1 is the detection of slicks on the sea surface, the segmentation of the detected slicks, and their classification. This task is performed by two elements of artificial intelligence in HSFW1: the \"detection of oil slick\" element and the \"segmentation and classification of oil slick\" element. The result of HSFW1 is the probability that the observed slick belongs to the dataset of oil product slicks, which was used in training, and segmentation of the entire slick into separate slicks with the same thickness according to the oil appearance code. The latter result makes it possible to estimate the volume of pollution. HSFW2 consists of LIF spectrometer hardware and the following artificial intelligence elements: \"identification of the type of oil product\" and \"concentration of dissolved oil product\". The functional purpose of the first is to determine the probability that the pollution belongs to one of the types of oil product in the dataset. This element determines the probability that the LIF spectrum comes from a slick of an oil product or a solution of oil product in seawater. The result of HSFW2 is the probability that the investigated pollution is related to one of the types of oil product (for both slick and solution) and the concentration of the dissolved oil product (in the case of a solution). HSFW3 consists of drone hardware and drone navigation and motion control software. The functional purpose of HSFW3 is to carry out autonomous flight of the monitoring mission. It includes the drone equipment needed to navigate and fly. HSFW3 software consists of standard programs that ensure the operation of the controller and the following artificial intelligence elements: \"autonomous navigation\" for changing the route, \"landing on a moving vessel\" for landing on a moving vessel, and \"landing on a sea surface\" for landing and takeoff of the drone from the sea surface.