@conference {Zhang2014, title = {Evaluating Adaptive Clocking for Supply-Noise Resilience in Battery-Powered Aerial Microrobotic System-on-Chip}, booktitle = {IEEE Transactions on Circuits and Systems (TCAS)}, volume = {PP}, year = {2014}, abstract = {A battery-powered aerial microrobotic System-on-Chip (SoC) has stringent weight and power budgets, which requires fully integrated solutions for both clock generation and voltage regulation. Supply-noise resilience is important yet challenging for such SoC systems due to a non-constant battery discharge profile and load current variability. This paper proposes an adaptive-frequency clocking scheme that can tolerate supply noise and improve performance when implemented with an integrated voltage regulator (IVR). Measurements from a {\textquoteleft}brain{\textquoteright} SoC, implemented in 40 nm CMOS, demonstrate 2 {\texttimes} performance improvement with adaptive-frequency clocking over conventional fixed-frequency clocking. Combining adaptive-frequency clocking with open-loop IVR extends error-free operation to a wider battery voltage range (2.8 to 3.8 V) with higher average performance.}, keywords = {robobees}, url = {https://doi.org/10.1109/TCSI.2014.2312490}, author = {Xuan Zhang and Tao Tong and David Brooks and Gu Wei} }