@conference {Zhang2013,
	title = {Supply-Noise Resilient Adaptive Clocking for Battery-Powered Aerial Microrobotic System-on-Chip in 40nm CMOS},
	booktitle = {IEEE Custom Integrated Circuits Conference (CICC)},
	year = {2013},
	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 40nm 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 3.8V) with higher average performance.},
	keywords = {robobees},
	url = {https://doi.org/10.1109/CICC.2013.6658436},
	author = {Xuan Zhang and Tao Tong and David Brooks and Gu  Wei}
}
