Facilities

The Scalable Move and Resilient Traversability (SMART) lab directed by PI Rastgoftar at the University of Arizona is equipped with powerful computers and laptops, and several 3D printers listed in Table 1. 

Table 1: Available 3D printers in the SMART Lab
Manufacturer Model Equipment Type Print Technology Capacity Quantity
Creality Ender-3 3-D Printer FDM 220mm (about 8.66in) x 220mm (about 8.66in) x 250mm (about 9.84in) 1
Creality Ender-3 Pro 3-D Printer FDM 220mm (about 8.66in) x 220mm (about 8.66in) x 250mm (about 9.84in) 1
Creality Ender-5 Plus 3-D Printer FDM 350mm (about 1.15ft) x 350mm (about 1.15ft) x 400mm (about half the length of a baseball bat) 3
Formlabs Form 3+ 3-D Printer LFS 14.5cm (about 5.71in) x 14.5cm (about 5.71in) x 18.5cm (about twice the length of the long edge of a credit card) 1

SMART lab has 10 M330 quadrotors, 3 M260 quadrotors and 50 mini-quadrotors with specifics outlined in Table 2 & 3.  Our quadrotor systems are clearly detailed in the Table 2. We have three different quadrotor types available in the SMART lab (See Table  3). The covered flying space at SMART Lab's indoor flight-testing facility is 5 by 5 by 2 meters. Loco Positioning System and 8 VICON V5 Cameras with 12.5 mm standard lenses are both available in the SMART lab to sense the positions and orientations of quadrotors wirelessly and visually. The SMART Lab also possesses more than ten IMU sensors and SEVERAL flight controllers.

Table 2: Quadrotor Specifications
M260 M330
Processor:

  • STM32H757 (32 bit ARM Cortex M7)
  • 480 MHz
  • 1 MB RAM
  • 2 MB Flash (fully accessible)

Fail Safe Co-processor:

  • STM32F103 (32 bit ARM Cortex-M3)
  • 24 MHz
  • 8 KB SRAM
 Processor:

  • Octavo Systems OSD3358(Link)
  • AM335x 1GHz ARM® Cortex-A8 processor
  • 512MB DDR3 RAM
  • 4GB 8-bit eMMC flash storage
  • Integrated power management
  • 2×32-bit 200-MHz programmable real-time units (PRUs)
Onboard Sensors:

  • Accelerometer: (3) ICM42688p, ICM20948, ICM20649
  • Gyroscope: (3) ICM42688p, ICM20948, ICM20649
  • Compass: (1) ICM20948
  • Barometric Pressure Sensor: (2) MS5611
 Onboard Sensors:

  • 9 axis IMU (accels, gyros, magnetometer),
  • Barometer
  • Thermometer
Speed Controller: T-Motor F55A Pro II (4in1) Speed Controller: Readytosky 40A
Motors: T-Motor F80 Pro 1900 KV Motors: Emax 2213-935KV
Interfaces:

  • IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU)
  • 5x UART (serial ports), one high-power capable, 2x with HW flow control
  • 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
  • R/C inputs:
    • Spektrum DSM / DSM2 / DSM-X®
    • Futaba S.BUS® compatible
    • PPM-SUM signal input
  • RSSI (PWM or voltage) input
  • I2C
  • SPI
  • 3.3v ADC input
  • Internal microUSB port and external microUSB port extension
 Interfaces:

  • Motor control: 8 6V servo out, 4 bidirectional DC motor out, 4 quadrature encoder in
  • GPS
  • DSM2 radio
  • UARTs
  • SPI
  • I2C
  • 3.3V GPIOs
Flight Software:

  • ArduPilot
  • Pixhawk
 Flight Software:

  • ArduPilot
  • ROS

 

Table 3: Available Quadrotors

 
  Quantity Size Weight
Crazyflie 2.1 50 92mm (about the length of the long edge of a credit card) x 92mm (about 3.62 in) x 29 mm (about 1.14 in) 27 g
M330 10

56 cm (about half the length of a baseball bat) x 56 cm (about 1.84 ft) x 10 cm (about 3.94 in)

 1075 g
M260 3 26.8 cm (about 10.55 in) x 26.8 cm x 3.5 cm (about 1.37 in) 670 g