@conference {Lok2015,
	title = {A Power Electronics Unit to Drive Piezoelectric Actuators for Flying Microrobots},
	booktitle = {IEEE Custom Integrated Circuits Conference (CICC)},
	year = {2015},
	abstract = {This paper describes a power electronics unit (PEU) for an insect-scale flapping-wing robot. Three power saving techniques used in the actuator driver of the PEU {\textemdash} envelope tracking, dynamic common mode, and charge sharing {\textemdash} reduce power consumption while retaining weight benefits of an inductor-less linear driver. A pair of actuator driver ICs energize four 15nF capacitor loads, which represent the piezoelectric actuators of a flapping-wing robot. The PEU consumes 290mW, which translates to 37\% lower power compared to a design without these power saving techniques.},
	keywords = {robobees},
	url = {https://micro.seas.harvard.edu/papers/Lok_CICC_2015.pdf},
	author = {Mario Lok and Xuan Zhang and Elizabeth Helblinh and Robert Wood and David Brooks and Gu  Wei}
}
