A 7m-range, 4.3mW/Ch. Ultrasound ASIC with Universal Energy Recycling TX for All-Weather Metamorphic Robotic 3D Vision System

A 64-Ch. ultrasound ASIC in 180nm 1P6M standard CMOS is presented for metamorphic robotic machine 3D vision, with 7mrange object detection capability, low-power (4.3mW/Ch.), small form-factor $(5\times 5\times 5cm^{3})$, and lightweight (100g). The proposed Universal Energy Recycling TX (UERTX) driver circuit saves energy by 81% compared to the conventional class-D driver.