SUPER-Hardware

This repository contains the hardware components of the SUPER project. See the software part of SUPER at hku-mars/SUPER (github.com)

If the following resources is useful to you, please cite our paper with

@article{ren2025safety,
  title={Safety-assured high-speed navigation for MAVs},
  author={Ren, Yunfan and Zhu, Fangcheng and Lu, Guozheng and Cai, Yixi and Yin, Longji and Kong, Fanze and Lin, Jiarong and Chen, Nan and Zhang, Fu},
  journal={Science Robotics},
  volume={10},
  number={98},
  pages={eado6187},
  year={2025},
  publisher={American Association for the Advancement of Science}
}

Provided Materials

We provide the following resources:

• Editable drafts and assemblies in SolidWorks: ./SolidWorks

  • 

• .step files for 3D printing: ./3DPrinting

• .step files for carbon fiber cutting and engraving: ./CarbonFiber

Bill of Materials (BOM) for additional components with reference links (see table below)

Hardware Breakdown

The hardware structure is illustrated below:

BOM

Name	Type	Number	Reference Link
LiDAR	Livox MID360	1	Livox Mid-360 (livoxtech.com)
LiDAR Connecting Cable	N/A	1	无名创新 Livox M12航插一分二数据线 mid360数据线 电赛无人机-淘宝网 (taobao.com)
Onboard Computer	Intel NUC	1	ASUS NUC 12 Pro｜NUCs｜ASUS Global
Aluminum Standoffs Pillars	40 mm * 3 mm	4
Aluminum Standoffs Pillars	30 mm * 3 mm	4	(Or 8 pcs 40 mm * 3mm)
Motor	T-Motor F90 KV1300	4	T-MOTORHOBBY F90 2806.5 Long Range Motor - 1300KV/1500KV/1950KV_Motor_F Series Racing Power_FPV Drone Parts_Tmotorhobby Store-Tmotorobby drone motor,ESC,Propeller
Propeller	HQ 7x4x3	4	HQProp 7X4X3 Light Grey
ESC	T-Motor F60A mini 4 in 1	1	TMOTOR F60A MINI 20x20 4IN1 ESC for FPV Drones – T-Motor
Battery	DualSky 3300mAh 6S XP-3300HED	1	cn.dualsky.com/Xpower_LiPos/decc7a90-6c8f-5c0d-d0d4-c8eaced6f5d2.shtml
Flight Controller	NxtPx4	1	NxtPX4v2(micoair.cn)
RC	Radiolink AT9S	1	AT9S PRO 12 channels transmitter for racing drone, fixed wing, helicopter, glider, cars and boats (radiolink.com.cn)
Reveiver	Radiolink R12DSM	1	12 channels MINI receiver R12DSM (radiolink.com)
Power Module	CKCS CK2416 (12 V 16 A)	1	https://e.tb.cn/h.6U3o07BuE81jHGi?tk=fopteCChcyW

Notes:

• RC and Receiver: The listed models (Radiolink AT9S and R12DSM) are what we currently use, but alternatives are acceptable.

• Battery: Any 6S battery can be used, not necessarily the DualSky model listed.

• Flight Controller: Any PX4-compatible flight controller can substitute for the NxtPx4, as the MPC controller may be open-sourced later this year, and our development is based on PX4.

• Power module for NUC: We are currently using a customized DC-DC buck converter designed by a labmate, but we do not have plans to make it open-source at this time. However, you may find the following open-source option useful: NUC Battery Power - Open Source Hardware Platform.. Please note that this open-source solution is not very stable, which is why we are making some modifications. However, these updates are not being handled by me, so I don't have further details. We may provide updates in the future.

  UPDATE 24/04/04: I have found an alternative for NUC 13 or other types that supports 12 v inputs, listed in the table above.

  

Acknowledgments

• Special thanks to NxtPx4 for providing an excellent mini flight controller.
• Gratitude to all contributors: Wenyi Liu, Wendi Dong, Minghe Chen, and Rongpei Dai.