Design of a tri-axial surface micromachined MEMS vibrating gyroscope

Gyroscopes are one of the next killer applications for the MEMS (Micro-Electro-Mechanical-Systems) sensors industry. Many mature applications have already been developed and produced in limited volumes for the automotive, consumer, industrial, medical, and military markets. Plenty of high-volume applications, over 100 million per year, have been calling for low-cost gyroscopes. Bulk silicon is a promising candidate for low-cost gyroscopes due to its large scale availability and maturity of its manufacturing industry. Nevertheless, it is not suitable for a real monolithic IC integration and requires a dedicated packaging. New designs are supposed to eliminate the need for magnets and metal case package, and allow for a real monolithic MEMS-IC (Integrated Circuit) electronic system. In addition, a drastic cost reduction could be achieved by utilizing off-the-shelf plastic packaging with lead frames for the final assembly. The present paper puts forward the design of a novel tri-axial gyroscope based on rotating comb-drives acting as both capacitive sensors and actuators. The comb-drives are comprised of a single monolithic moving component (rotor) and fixed parts (stators). The former is made out of different concentrated masses connected by curved silicon beams in order to decouple the motion signals. The sensor was devised to be fabricated through the PolyMUMPs® process and it is intended for working in air in order to semplify the MEMS-IC monolithic integration

The design, simulation and fabrication of microengineered silicon gyroscopes

This thesis is concerned with the development of a low cost resonant gyroscope, or rate of turn sensor, which is capable of being mass produced. The history and theory of the resonant gyroscope is reviewed, and then a survey of resonant gyroscope technology is presented. Two novel designs of resonant gyroscopes are described. These designs are developed using the finite element analysis method. The fabrication procedure required to manufacture these devices is also developed and presented. The fabrication procedures are based upon silicon micromachining technology developed from the semiconductor industry. Prototype structures are fabricated. The first of these devices has been demonstrated to operate successfully as a gyroscopic rate of turn sensor. A third design is also presented and developed using finite element analysis. This design demonstrates for the first time that it is possible to sense rates of turn about all three orthogonal axes independently, using just a single structure. A successful implementation of a structure of this type would eliminate the traditional requirement of one gyroscope per axis of rotation. The finite element simulations of the structure indicate that the design is suitable for mass production using silicon micromachining techniques

Development of a low damping MEMS resonator

MEMS based low damping inertial resonators are the key element in the development of precision vibratory gyroscopes. High quality factor (Q factor) is a crucial parameter for the development of high precision inertial resonators. Q factor indicates how efficient a resonator is at retaining its energy during oscillations. Q factor can be limited by different types of energy losses, such as anchor damping, squeeze-film damping, and thermoelastic damping (TED). Understanding the energy loss-mechanism can show a path for designing high Q resonator. This thesis explores the effects of different design parameters on Q factor of 3D inertial resonators. TED loss mechanisms in a 3D non-inverted wineglass (hemispherical) shell resonator and a disk resonator were investigated. Both the disk and shell share the same vibration modes, and they are widely used as a vibratory resonator shape. Investigation with loss-mechanism shows that robust mechanical materials such as fused silica can offer ultra-low damping during oscillation. TED loss resulting from the effects of geometric parameters (such as thickness, height, and radius), mass imbalance, thickness non-uniformity, and edge defects were investigated. Glassblowing was used to fabricate hemispherical 3D shell resonators and conventional silicon based dry etching was used to fabricate micro disk resonators. The results presented in this thesis can facilitate selecting efficient geometric and material properties for achieving a higher Q-factor in 3D inertial resonators. Enhancing the Q-factor in MEMS based 3D resonators can further enable the development of high precision resonators and gyroscopes

Degree-per-hour mode-matched micromachined silicon vibratory gyroscopes

The objective of this research dissertation is to design and implement two novel micromachined silicon vibratory gyroscopes, which attempt to incorporate all the necessary attributes of sub-deg/hr noise performance requirements in a single framework: large resonant mass, high drive-mode oscillation amplitudes, large device capacitance (coupled with optimized electronics), and high-Q resonant mode-matched operation. Mode-matching leverages the high-Q (mechanical gain) of the operating modes of the gyroscope and offers significant improvements in mechanical and electronic noise floor, sensitivity, and bias stability. The first micromachined silicon vibratory gyroscope presented in this work is the resonating star gyroscope (RSG): a novel Class-II shell-type structure which utilizes degenerate flexural modes. After an iterative cycle of design optimization, an RSG prototype was implemented using a multiple-shell approach on (111) SOI substrate. Experimental data indicates sub-5 deg/hr Allan deviation bias instability operating under a mode-matched operating Q of 30,000 at 23ºC (in vacuum). The second micromachined silicon vibratory gyroscope presented in this work is the mode-matched tuning fork gyroscope (M2-TFG): a novel Class-I tuning fork structure which utilizes in-plane non-degenerate resonant flexural modes. Operated under vacuum, the M2-TFG represents the first reported high-Q perfectly mode-matched operation in Class-I vibratory microgyroscope. Experimental results of device implemented on (100) SOI substrate demonstrates sub-deg/hr Allan deviation bias instability operating under a mode-matched operating Q of 50,000 at 23ºC. In an effort to increase capacitive aspect ratio, a new fabrication technology was developed that involved the selective deposition of doped-polysilicon inside the capacitive sensing gaps (SPD Process). By preserving the structural composition integrity of the flexural springs, it is possible to accurately predict the operating-mode frequencies while maintaining high-Q operation. Preliminary characterization of vacuum-packaged prototypes was performed. Initial results demonstrated high-Q mode-matched operation, excellent thermal stability, and sub-deg/hr Allan variance bias instability.Ph.D.Committee Chair: Dr. Farrokh Ayazi; Committee Member: Dr. Mark G. Allen; Committee Member: Dr. Oliver Brand; Committee Member: Dr. Paul A. Kohl; Committee Member: Dr. Thomas E. Michael

Development and experimental analysis of a micromachined Resonant Gyrocope

This thesis is concerned with the development and experimental analysis of a resonant gyroscope. Initially, this involved the development of a fabrication process suitable for the construction of metallic microstructures, employing a combination of nickel electroforming and sacrificial layer techniques to realise free-standing and self-supporting mechanical elements. This was undertaken and achieved. Simple beam elements of typically 2.7mm x 1mm x 40µm dimensions have been constructed and subject to analysis using laser doppler interferometry. This analysis tool was used to implement a fill modal analysis in order to experimentally derive dynamic parameters. The characteristic resonance frequencies of these cantilevers have been measured, with 3.14kHz, 23.79kHz, 37.94kHz and 71.22kHz being the typical frequencies of the first four resonant modes. Q-factors of 912, 532, 1490 and 752 have been measured for these modes respectively at 0.01mbar ambient pressure. Additionally the mode shapes of each resonance was derived experimentally and found to be in excellent agreement with finite element predictions. A 4mm nickel ring gyroscope structure has been constructed and analysed using both optical analysis tools and electrical techniques. Using laser doppler interferometry the first four out-of-plane modes of the ring structure were found to be typically 9.893 kHz, 11.349 kHz, 11.418 kHz and 13.904 kHz with respective Q-factors of 1151, 1659, 1573 and 1407 at 0.01 mbar ambient pressure. Although electrical measurements were found to be obscured through cross coupling between drive and detection circuitry, the in-plane operational modes of the gyroscope were sucessfully determined. The Cos2Ө and Sin2Ө operational modes were measured at 36.141 kHz and 36.346 kHz, highlighting a frequency split of 205kHz. Again all experimentally derived modal parameters were in good agreement with finite element predictions. Furthermore, using the analysis model, the angular resolution of the gyroscope has been predicted to be approximately 4.75º/s

Characterization of errors and noises in MEMS inertial sensors using Allan variance method

This thesis work has addressed the problems of characterizing and identifying the noises inherent to inertial sensors as gyros and accelerometers, which are embedded in inertial navigation systems, with the purpose of estimating the errors on the obtained position. The analysis of the Allan Variance method (AVAR) to characterize and identify the noises related to these sensors, has been done. The practical implementation of the AVAR method for the noises characterization has been performed over an experimental setup using the IMU 3DM-GX3 -25 data and the Matlab environment. From the AVAR plots it was possible to identify the Angle Random Walk and the Bias Instability in the gyros, and the Velocity Random Walk and Bias Instability in the accelerometers. A denoising process was also performed by using the Discrete Wavelet Transforms and the Median Filter. After the filtering the AVAR plots showed that the ARW was almost removed or attenuated using Wavelets, but not good results were obtained with the Median Filter

Quantum Electronics

Contains thirteen research projects split into three sections.U.S. Air Force - Rome Air Development Center (Contract F19628-80-C-0077)National Science Foundation (Grant PHY79-09739)Joint Services Electronics Program (Contract DAAG29-78-C-0020)Joint Services Electronics Program (Contract DAAG29-80-C-0104)U.S. Air Force Geophysics Laboratory (AFSC) (Contract F19628-79-C-0082)National Science Foundation (Grant ECS79-19475)National Science Foundation (Grant DAR80-08752)National Science Foundation (Grant ENG79-09980