they were created specifically for the tasks of the devices bauman moscow state technical universityly developed the manipulator. this is the key . localization is really used in this device and domestic developments reach, well about 90% if it can dive to a depth of more than 2 km, for example, the deepest nuclear submarine in the world komsomolets dived to 1.250 m. mm, it is made of organic glass or polymethyl methacrylate. well , like years ago, it was never considered as a structural material. that is, we are used to the fact that the structural material is steel, it is titanium alloys, aluminum alloys, but earlier organic glass has never been made as a quality, which means that a durable hull has not been made, but a manned underwater vehicle has been tested. thanks to the technology of digital twins at the end - this is a virtual analogue of a physical device, in order to assemble everything correctly in a timely manner , you must first have, not to make wooden models, as you used to build, you can view the numbers and outline both the technological process and assembly of manu