@article {Casanova:August 2006:1546-1998:291,
	author = "Casanova, Raimon",
	author = "Dieguez, Angel",
	author = "Arbat, Anna",
	author = "Samitier, Josep",
	title = "Multiclock Domain and Dynamic Frequency Scaling Applied to the Control Unit of a Battery Powered for 1 cm3 Microrobot",
	journal = "Journal of Low Power Electronics",
	volume = "2",
	year = "August 2006",
	abstract = "A low power controller unit for 1 cm<SUP>3</SUP> autonomous microbot is presented. It receives and decodes instructions from a host computer via IR and transforms them into periodic control signals. The controller must be capable to process IR instructions at 40 MHz at the same time that must generate slow control signals from 0 to 3 kHz. In order to improve the battery life, a multiclock architecture has been used to allow applying dynamic frequency scaling (DFS). Each module inside the controller operates at its optimum frequency achieving power reductions of at least 7% if no DFS is applied.",
	pages = "291-299(9)",
	url = "http://www.ingentaconnect.com/content/asp/jolpe/2006/00000002/00000002/art00015"
	doi = "doi:10.1166/jolpe.2006.067"
}