@article {Zhang2017,
	title = {A Fully Integrated Battery-Powered System-on-Chip in 40-nm CMOS for Closed-Loop Control of Insect-Scale Pico-Aerial Vehicle},
	journal = {IEEE Journal of Solid-State Circuits},
	volume = {52},
	year = {2017},
	pages = {2374 - 2387},
	abstract = {We demonstrate a fully integrated system-on-chip (SoC) optimized for insect-scale flapping-wing pico-aerial vehicles. The SoC is able to meet the stringent weight, power, and real-time performance demands of autonomous flight for a bee-sized robot. The entire integrated system with embedded voltage regulation, data conversion, clock generation, as well as both general-purpose and accelerated computing units, weighs less than 3 mg after die thinning. It is self-contained and can be powered directly off of a lithium battery. Measured results show open-loop wing flapping controlled by the SoC and improved energy efficiency through the use of hardware acceleration and supply resilience through the use of adaptive clocking.},
	keywords = {robobees},
	url = {https://doi.org/10.1109/JSSC.2017.2705170},
	author = {Xuan Zhang and Mario Lok and Tao Tong and Sae Lee and Brandon Reagen and Pierre. Duhamel and Robert Wood and David Brooks and Gu  Wei}
}
