A Fully Integrated Battery-Powered System-on-Chip in 40-nm CMOS for Closed-Loop Control of Insect-Scale Pico-Aerial Vehicle

Xuan Zhang, Mario Lok, Tao Tong, Sae Kyu Lee, Brandon Reagen, Simon Chaput, Pierre Emile J. Duhamel, Robert J. Wood, David Brooks, Gu Yeon Wei

Research output: Contribution to journalArticlepeer-review

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.

Original languageEnglish (US)
Article number7946188
Pages (from-to)2374-2387
Number of pages14
JournalIEEE Journal of Solid-State Circuits
Volume52
Issue number9
DOIs
StatePublished - Sep 2017

Keywords

  • Dynamic voltage scaling
  • hardware accelerators
  • integrated voltage regulation
  • micro-aerial vehicle
  • system-on-chip (SoC)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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