## 5 The Concept of HSFW Development  
A wide range of tasks should be solved to provide proper autonomous oil pollution monitoring at sea using a drone. The concept of project development was based on a combination of hardware and software into corresponding separate sub-frameworks concerning the functional purposes. All hardware and software related to navigation and  
Figure 7: Program window with a compiled flight task for water area monitoring. motion control were combined into the HSFW3 sub-framework. Hardware and software of the LIF were combined into HSFW2. HSFW1 is a collection of computer vision equipment and software for monitoring oil slicks. Each of the three frameworks may be considered separately. However, since they were combined into one general framework as constituent parts, we use the term sub-framework to identify them. The sequential inclusion of each of the sub-frameworks into the joint HSFW expanded the monitoring mission's capabilities. Accordingly, slicks on the sea surface can be detected if only HSFW1 is installed. Moreover, if the task of classifying the slick and no decisions are made with respect to changing the flight route, then the use of a Raspberry computer is sufficient to accomplish such a mission. A more efficient computer such as Jetson nano can be installed if the monitoring mission includes the classification of slicks. The types of oil products may be determined and the concentration of dissolved oil products may be measured when the HSFW2 is added. The HSFW3 may be added for autonomous flight and move control, including autonomous re-routing, water landing of the drone, and landing on a moving vessel. The software structure and hardware connections are designed in such a way that adding or removing the abovementioned sub-frameworks does not require any changes to the drone design. Therefore, the development of three separate, interacting hardware and software sub-frameworks, endowed with the ability to make decisions considering their functional purpose, represented the most optimal structure to ensure the autonomy of the monitoring mission. Sub-frameworks may be used separately by means of proper hardware and software. Thus, the drone can be equipped with a different number of sub-frameworks and solve individual monitoring tasks. These sub-frameworks are combined into a joint framework (HSFW = HSFW1 + HSFW2 + HSFW3), which ensures implementation of the entire monitoring mission to fulfill the general monitoring mission. In this case, the interaction of the sub-frameworks is ensured. Each of the sub-frameworks is provided with elements of artificial intelligence to make decisions within its functional affiliation. Another level related to making priority decisions (Priority HSFW) is highlighted in the software to determine the priorities of these decisions. Priority decisions refer to those situations that require importance in the sequence of mission tasks, termination of the mission, and return of the drone to the location of deployment, in cases when priority should be chosen between the definition of monitoring modes. A block diagram of the HSFW is shown in Figure 8. All elements are divided into levels. The first (highest) level is occupied by the Priority HSFW artificial intelligence element, which makes priority decisions concerning the implementation of the monitoring mission. The decisions of Priority HSFW are prioritized for each of the sub-frameworks. The hardware and software of the HSFW are separated in the second level in Figure 8. These are further divided into the hardware and software parts of the HSFW1, HSFW2, and HSFW3, which are shown in the third level. Due to the fact that the functional purpose of HSFW1 and HSFW2 is the monitoring process itself, they are combined in the diagram. These functional purposes are indicated in the fourth level for each of the sub-frameworks. The fifth level in Figure 8 contains information about the major hardware, software, or artificial intelligent tools of the sub-frameworks.