The present disclosure provides a bipolar transistor base structure coupled to field effect transistor gate structure.
Conventional integrated circuits may employ heterojunction bipolar transistors (HBTs). Historically, HBTs were vertically oriented. Lateral bipolar transistors are currently under development, at least in part, to allow for easy integration into complementary metal oxide semiconductor (CMOS) process flows for semiconductor-on-insulator structures (e.g., silicon-on-insulator (SOI) structures). Efficiently integrating lateral bipolar transistors into the same device layer as field effect transistors (FETs) is a technical challenge.
The illustrative aspects of the present disclosure are designed to solve the problems herein described and/or other problems not discussed.
Embodiments of the disclosure provide a structure including: a first back-gate well adjacent a second back-gate well; a bipolar transistor (BT) over the first back-gate well and including a base structure laterally between a set of emitter/collector (E/C) terminals and extending longitudinally away from the set of E/C terminals; and a field effect transistor (FET) over the second back-gate well and including a gate structure laterally between a set of source/drain (S/D) terminals and extending longitudinally away from the set of S/D terminals toward the BT, wherein the gate structure is coupled to the base structure.
Other embodiments of the disclosure provide a structure including: a first back-gate well on a substrate and having a first back-gate contact thereto; a second back-gate well on the substrate adjacent the first back-gate well, and having a second back-gate contact thereto; an insulator layer on the first back-gate well and the second back-gate well; a bipolar transistor (BT) on the insulator layer and over the first back-gate well, wherein the BT includes a base structure laterally between a set of emitter/collector (E/C) terminals and extending longitudinally away from the set of E/C terminals; a field effect transistor (FET) on the insulator layer and over the second back-gate well, wherein the FET includes a gate structure laterally between a set of source/drain (S/D) terminals and extending longitudinally away from the set of S/D terminals toward the BT; and a conductive coupling from the base structure of the BT to the gate structure of the FET.
Additional embodiments of the disclosure provide a method including: forming a first back-gate well adjacent a second back-gate well; forming a bipolar transistor (BT) over a first back-gate well, the BT including a base structure laterally between a set of emitter/collector (E/C) terminals and extending longitudinally away from the set of E/C terminals; and forming a field effect transistor (FET) over the second back-gate well, the FET including a gate structure laterally between a set of source/drain (S/D) terminals and extending longitudinally away from the set of S/D terminals, wherein the gate structure is coupled to the base structure.
These and other features of this disclosure will be more readily understood from the following detailed description of the various aspects of the disclosure taken in conjunction with the accompanying drawings that depict various embodiments of the disclosure, in which:
It is noted that the drawings of the disclosure are not necessarily to scale. The drawings are intended to depict only typical aspects of the disclosure, and therefore should not be considered as limiting the scope of the disclosure. In the drawings, like numbering represents like elements between the drawings.
In the following description, reference is made to the accompanying drawings that form a part thereof, and in which is shown by way of illustration specific illustrative embodiments in which the present teachings may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present teachings, and it is to be understood that other embodiments may be used and that changes may be made without departing from the scope of the present teachings. The following description is, therefore, merely illustrative.
It will be understood that when an element such as a layer, region, or substrate is referred to as being “on” or “over” another element, it may be directly on the other element or intervening elements may also be present. In contrast, when an element is referred to as being “directly on” or “directly over” another element, there may be no intervening elements present. It will also be understood that when an element is referred to as being “connected” or “coupled” to another element, it may be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being “directly connected” or “directly coupled” to another element, there are no intervening elements present.
Reference in the specification to “one embodiment” or “an embodiment” of the present disclosure, as well as other variations thereof, means that a particular feature, structure, characteristic, and so forth described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, the phrases “in one embodiment” or “in an embodiment,” as well as any other variations appearing in various places throughout the specification are not necessarily all referring to the same embodiment. It is to be appreciated that the use of any of the following “/,” “and/or,” and “at least one of,” for example, in the cases of “A/B,” “A and/or B” and “at least one of A and B,” is intended to encompass the selection of the first listed option (a) only, or the selection of the second listed option (B) only, or the selection of both options (A and B). As a further example, in the cases of “A, B, and/or C” and “at least one of A, B, and C,” such phrasing is intended to encompass the first listed option (A) only, or the selection of the second listed option (B) only, or the selection of the third listed option (C) only, or the selection of the first and the second listed options (A and B), or the selection of the first and third listed options (A and C) only, or the selection of the second and third listed options (B and C) only, or the selection of all three options (A and B and C). This may be extended, as readily apparent by one of ordinary skill in the art, for as many items listed.
Embodiments of the disclosure provide a structure including a first back-gate well adjacent a second back-gate well. A bipolar transistor (BT), e.g., a heterojunction bipolar transistor (HBT), is over the first back-gate well and includes a base structure laterally between a set of emitter/collector (E/C) terminals and extending longitudinally away from the set of E/C terminals. A field effect transistor (FET) is over the second back-gate well and includes a gate structure laterally between a set of source/drain (S/D) terminals and extending longitudinally away from the set of S/D terminals toward the BT. The gate structure is coupled to the base structure. As compared with conventional device structures, embodiments of the disclosure may electrically couple the base of a bipolar transistor to the gate of the FET structure without intervening elements, thus defining a shared node for two different kinds of transistors. In some cases, a conductor may be on the physical interface between the base of the bipolar transistor structure and the gate of the FET structure. The base and gate materials may be joined lengthwise (i.e., along a plane extending perpendicularly with respect to the emitter-collector and/or source-drain connections), or in parallel with the emitter-collector and/or source/drain connections. Structures of the disclosure also may include back-gate terminals for independent or simultaneous biasing of the bipolar transistor structure and/or FET structure.
Bipolar transistors (BTs) may be in the form of heterojunction bipolar transistors (HBTs). Heterojunction bipolar transistors differ from other bipolar transistors, e.g., by including different types of semiconductor materials together with different types of doping. As discussed herein, the base of an HBT may be silicon germanium (SiGe) whereas the emitter and collector terminals may include crystalline silicon (Si). HBTs and other BJT structures operate using multiple “P-N junctions.” The term “P-N” refers to two adjacent materials having different types of conductivity (i.e., P-type and N-type), which may be induced through dopants within the adjacent material(s). Doping generally refers to a process by which foreign materials (“dopants”) are added to a semiconductor structure to alter its electrical properties, e.g., resistivity and/or conductivity. Where a particular type of doping (e.g., p-type or n-type) doping is discussed herein, it is understood that an opposite doping type may be implemented in alternative embodiments. Implantation, where applicable, refers to a doping process in which ions are accelerated toward a solid surface to penetrate the solid up to a predetermined range based on the energy of the implanted ions. Doping also may be implemented by epitaxially growing different conductivity type semiconductor materials in contact with each other, i.e., in-situ doping during epitaxy. In-situ doped epitaxy may be particularly suitable to form HBT structures as discussed herein.
A P-N junction, when formed in a device, may operate as a diode. A diode is a two-terminal element, which behaves differently from conductive or insulative materials between two points of electrical contact. Specifically, a diode provides high conductivity from one contact to the other in one voltage bias direction (i.e., the “forward” direction), but provides little to no conductivity in the opposite direction (i.e., the “reverse” direction). In the case of the P-N junction, the orientation of a diode's forward and reverse directions may depend on the type and magnitude of bias applied to the material composition of one or both terminals, affecting the size of the potential barrier. In the case of a junction between two semiconductor materials, the potential barrier will be formed along the interface between the two semiconductor materials.
Referring to
Structure 100 may include embedded elements for electrically separating active materials formed over substrate 102 from other regions and/or materials. Some areas of substrate 102 may be doped to provide a back-gate well 104. Back-gate well 104 can specifically be a monocrystalline semiconductor layer with P-type or N-type for conductivity and to allow electric biasing. Back-gate well 104 can be a doped bulk semiconductor material or, in other examples, may be a crystalline silicon layer or a monocrystalline layer of any other suitable semiconductor material (e.g., silicon germanium). An insulator layer 106 can be above substrate 102 and back-gate well 104. Insulator layer 106 can be, for example, an oxide layer (also referred to herein as a buried oxide (BOX) layer), such as a silicon dioxide layer, or a layer of any other suitable insulator material.
Structure 100 also may include one or more trench isolation layers (TI(s)) 110. TI(s) 110 may be made by forming and filling trenches (not labeled) with an insulating material such as oxide. TI(s) 110 horizontally isolate insulator layer 106, back-gate well 104, and other components thereon (e.g., bipolar transistor and field effect transistor (FET) structures discussed herein) from any adjacent regions of material. Various portions of structure 100, including the active semiconductor materials thereof and/or other devices where applicable, may be formed on or above portions of insulator layer 106 that are isolated by TI(s) 110. Any number of TI(s) 110 may be provided to isolate structure 100 from different types of structures and/or components. An active semiconductor layer 112 (e.g., a semiconductor on insulator (SOI) layer and/or other layer(s) of doped semiconductor material) on insulator 106 and separated from other structures by TI(s) 110 can define an active device region for a lateral bipolar junction transistor (BT) structure 120 (and, as discussed elsewhere herein, a field effect transistor (FET) structure 130 (
Insulator layer 106 and TI(s) 110 may be formed of any currently-known or later developed substance for providing electrical insulation, and as examples may include: silicon nitride (Si3N4), silicon oxide (SiO2), fluorinated SiO2 (FSG), hydrogenated silicon oxycarbide (SiCOH), porous SiCOH, boro-phospho-silicate glass (BPSG), silsesquioxanes, carbon (C) doped oxides (i.e., organosilicates) that include atoms of silicon (Si), carbon (C), oxygen (O), and/or hydrogen (H), thermosetting polyarylene ethers, a spin-on silicon-carbon containing polymer material, near frictionless carbon (NFC), or layers thereof. Active semiconductor layer 112 may be on insulator layer 106, e.g., due to being formed by deposition and epitaxial growth of semiconductor material(s). In other cases (e.g., where an SOI stack is not used), active semiconductor layer 112 and TI(s) 110 may be planarized (e.g., by chemical mechanical planarization or other technique(s)) such that the upper surface(s) thereof is/are substantially coplanar with each other) such that the upper surface of active semiconductor layer 112 is substantially coplanar with TI(s) 110.
Insulator layer 106 may extend horizontally throughout structure 100, and/or may be the layer on which active materials are formed and/or defined. In further implementations, insulator layer 106 may include oxygen doping to form a dielectric insulator or a buried oxide (“BOX”) layer over substrate 102 and back-gate well 104 to electrically isolate overlying active materials from back-gate well 104 and/or substrate 102. Insulator layer 106 thus may include other elements or molecules such as Ge, N, or Si. However embodied, insulator layer 106 may be sized as narrow as possible to provide better interaction with overlying semiconductor materials. In various embodiments, insulator layer 106 may have a vertical thickness of approximately twenty nanometers (nm), or otherwise have a thickness that varies between approximately ten nm to approximately one-hundred nm. Some portions (not shown) of substrate 102 and/or back-gate well 104 may not have insulator layer 106 thereover, and/or multiple layers of insulator layer 106 may be formed on substrate 102 to varying thicknesses. Additionally, various conductive particles (“dopants”) may be introduced into substrate 102 as discussed herein via a process known as “pre-doping” of substrate 102. It is understood that substrate 102 can be separately connected and used as a “back bias” to modify the operation of some or all of the devices located above the insulator layer 106, even though such couplings are not explicitly shown in the accompanying figures for clarity of illustration.
BT structure 120 can be formed on and within a portion of active semiconductor layer 112 bounded within TI(s) 110. Embodiments of structure 100 structurally integrate BT structure 120 with FET structure 130 (
A set of E/C contacts 146 may provide the vertical electrical coupling between E/C terminals 140 and overlying metal wires and/or vias. Some portions of E/C terminals 140 may be converted into a silicide layer 148 to improve conductivity between E/C terminals 140 and E/C contact(s) 146 thereon, e.g., by providing a conductive metal such as cobalt (Co), titanium (Ti), nickel (Ni), platinum (Pt), or similar material on the upper surface(s) of a targeted material. The conductive material may be annealed while in contact with the underlying semiconductor to produce silicide layer 148 for electrically coupling semiconductor materials to any contacts formed thereon. Excess conductive material can then be removed using any now known or later developed solution, e.g., etching.
BT structure 120 includes an intrinsic base 152 on an SOI layer 151 (i.e., a non-doped or lightly doped semiconductor material) that is horizontally between E/C terminals 140, and an extrinsic base 156 on intrinsic base 152. SOI layer 151, intrinsic base 152, and extrinsic base 156 together provide a base structure 157 to control current flow between E/C terminals 140. Base structure 157 itself defines the base terminal of BT structure 120. Intrinsic base 152 may be p-type doped monocrystalline SiGe, and/or similar semiconductor materials having an opposite conductivity type from E/C terminals 140 but with relatively low amounts of doping. Intrinsic base 152 may be located on SOI layer 151 and above insulator layer 106, above back-gate well 104. Intrinsic base 152 may be grown on SOI layer 151 during any conventional replacement gate process and within spacers 158. Optionally, portions of SOI layer 151 may be removed to decrease its vertical thickness as much as possible, while retaining sufficient semiconductor material to enable epitaxial growth thereon. The doping type of intrinsic base 152 may be adjustable to provide NPN or PNP-conductivity types in a bipolar transistor. Extrinsic base 156 may have the same doping polarity as intrinsic base 152 but with a higher dopant concentration. Extrinsic base 156 may be formed by selective epitaxial growth of polycrystalline semiconductor in an opening above intrinsic base 152, followed by non-selective growth of additional, non-polycrystalline semiconductor material.
BT structure 120 also may include a set of spacers 158 on outer surfaces of extrinsic bases 156 and intrinsic base 152. Spacers 158 can be provided as one or more bodies of insulating material formed on the upper surface of a material, e.g., by deposition, thermal growth, etc., to electrically and physically insulate materials subsequently formed on the coated material(s) from other components. According to an example, spacers 158 may have one or more nitride insulator materials (e.g., SiN) or other types of insulator materials (e.g., SiO2) formed to a desired thickness. In this case, spacers 158 may be formed, e.g., by nitriding exposed outer surfaces (e.g., sidewalls) of an initial gate structure (e.g., a “dummy gate”) to convert its material composition into a nitride insulator (e.g., converting from poly-Si to silicon dioxide (SiN) or other semiconductor oxides).
In addition to providing electrical insulation, spacers 158 may affect the shape of extrinsic base 156 over intrinsic base 152. For instance, extrinsic base 156 may be substantially T-shaped by having a lower portion that is horizontally between (e.g., physically constrained by) spacers 158, and an upper portion that extends horizontally over (and thus overhangs) spacers 158. Extrinsic base 156 may have a substantial T-shape as a result of forming base structure 156 within spacers 158, i.e., by forming an initial gate structure (not shown) and replacing the initial gate structure with base structure 157. An advantage of this processing configuration is to provide more contact area for contacts to land on base structure 157. However, in further implementations, extrinsic base 156 may have any of a variety of structural configurations that are not T-shaped. The position and size of spacers 158 may be controlled during processing to further affect the size and shape of extrinsic base 156. It is understood that base material may be formed to have other geometries (e.g., shapes other than a “T”) by omitting or changing the shape or position of spacers 158. Extrinsic base 156 also may include silicide layer 148 thereon for stronger coupling to a base contact 160 (also known simply as a “conductor” in some contexts). Silicide layer 148 may be formed by the same process, or in the same stage of processing, as other materials having silicide layer 148 discussed herein.
Referring now to
FET structure 130 includes a channel layer 166 horizontally between S/D terminals 162. Channel layer 166 also may be above back-gate well 104 and insulator layer 106 but may have an opposite doping type as compared to S/D terminals 162. In the case where BT structure 120 provides an “NPN” transistor structure, intrinsic base 152 and channel layer 166 may have opposite doping types. Back-gate well 104 itself may define a back-gate terminal for BT structure 120 and/or FET structure 130 as discussed in detail herein.
Other portions of FET structure 130 may be between S/D terminals 162, and over channel layer 166. FET structure 130 for instance may include a gate structure 167, which may be structurally and compositionally distinct from base structure 157 because it is structure to operate a different type of transistor. Gate structure 167 may have a gate dielectric layer 168 in the form of any thin layer of dielectric material capable of preventing electrical coupling between channel region 166 and electrically active material(s) over gate dielectric layer 168 while allowing electric fields within a gate conductor 170 to influence the electrical conductivity within channel region 166. Gate dielectric layer 168 may include, e.g., a “high-k” dielectric material (i.e., any material having a dielectric constant of at least 3.9) or other currently known or later developed gate dielectric materials, and as examples may include hafnium silicate (HfSiO), hafnium oxide (HfO2), zirconium silicate (ZrSiOx), zirconium oxide (ZrO2), silicon oxide (SiO2), silicon nitride (Si3N4), silicon oxynitride (SiON), or any combination of these materials.
Gate structure 167 also may include a gate conductor 170 including a conductive metal (e.g., copper, aluminum, and/or other metal wiring materials), and/or an active semiconductor material (e.g., doped polycrystalline Si and/or SiGe) may be over gate dielectric layer 168. In the case where gate conductor 170 includes active semiconductor material, gate conductor 170 may include silicide layer 148 thereon for improving the electrical interface between gate conductor 170 and metal wires and/or vias coupled thereto. Base contact 160 (shown in dashed lines to indicate being in a different X-Z cross-section) may vertically couple gate conductor 170 to metal wires, vias, and/or other components through wiring layers (not shown). Another set of spacers 158 also may cover sidewalls of gate conductor 170, e.g., in a manner similar to that of extrinsic base 156. Gate conductor 170 may have a different composition from extrinsic base 156, e.g., gate conductor 170 may be metal and extrinsic base 156 may include a doped semiconductor material, or gate conductor 170 may have a different doped semiconductor material from extrinsic base 156.
Referring to
A back-gate contact 176 may be on back-gate terminal 174 (e.g., it may be in contact with silicide layer 148) to provide electrical coupling between back-gate well 104 and overlying metal wires and/or vias. As with other semiconductive components discussed herein, silicide layer 148 may be on back-gate terminal 174. Applying an electrical potential to back-gate well 104 through back-gate terminal 174 can induce an electric charge within back-gate well 104, thereby creating a difference in electrical potential between back-gate well 104 and other semiconductive materials (e.g., E/C terminals 140, SOI layer(s) 151, S/D terminals 162, channel layer 166, etc.) across insulator layer 106. Among other effects, this difference in electrical potential between back-gate well 104 and overlying semiconductor layers can affect electrical properties, e.g., the biasing of BT structure 120, FET structure 130, etc. For instance, electrical biasing of back-gate well 104 can raise or lower threshold voltage of FET structure 130, i.e., the minimum voltage for inducing electrical conductivity across channel region 166 between S/D terminals 162.
Structure 100 may include an inter-level dielectric (ILD) layer 180 over insulator layer 106 and any other components thereon. ILD layer 180 may include the same insulating material as insulator layer 106 or may include a different electrically insulative material for vertically separating active materials from overlying materials, e.g., various horizontally extending wires or vias. ILD layer 180 and insulator layer 106 nonetheless constitute different components, e.g., due to insulator layer 106 being vertically between back-gate well 104 and the various components of BT structure 120, FET structure 130, etc. ILD layer 180 may be formed by deposition and/or other techniques to provide electrically insulating materials, and can then be planarized (e.g., using CMP), such that its upper surface remains above active semiconductor layer 112, BT structure 120, FET structure 130, etc.
As discussed previously, structure 100 includes various contacts 146, 160, 164, 176 for electrically coupling structure 100 to overlying metal wires or vias (not shown). Contacts 146, 160, 164, 176 may be formed within predetermined portions of ILD layer 180 by a controlled amount of vertical etching to form openings to one or more contact sites, and then filling the openings with a conductor. Each contact 146, 160, 164, 176 may include any currently known or later developed conductive material configured for use in an electrical contact, e.g., tungsten (W), copper (Cu), aluminum (Al), etc. Contacts 146, 160, 164, 176 may additionally include refractory metal liners (not shown) positioned alongside ILD layer 180 to prevent electromigration degradation, shorting to other components, etc.
To electrically separate each transistor structures 120, 130 and different portions of back-gate well 104 (
Various embodiments of the disclosure may include methods to form structure 100. Such methods may include, e.g., forming back-gate wells 104 in substrate 102 such that at least one back-gate well 104 is adjacent another back-gate well, with TI(s) 110 therebetween. Further processing may include forming BT structure 120 over one back-gate well 104, e.g., by forming base structure 157 through metal gate replacement as discussed herein and subsequent forming of E/C terminals 140 by epitaxial growth, doping, and/or other combinations of techniques. Spacers 158 and E/C terminals 140 are formed after the forming of an initial (“dummy”) gate, and replacement metal gate (RMG) techniques then may be implemented to form base structure 157 including intrinsic base 152 and extrinsic base 156. Base structure 157 may extend longitudinally away from E/C terminals 140 over substrate 102. Methods to form structure 100 similarly may include forming FET structure 130, in which gate structure 167 also may be formed by metal gate replacement, perhaps with one or more of the same metal gate replacement steps used to form base structure 157. FET structure 130 may be over a different back-gate well 104 and its gate structure 167 may extend longitudinally away from S/D terminals 162. Base structure 157 may be coupled to gate structure 167, e.g., by longitudinal abutting of structures 157, 167 and/or other types of intercoupling discussed herein. The forming of structures 157, 167 may include forming different semiconductor compositions in respective locations and/or forming a doped semiconductor to provide extrinsic base 156 and a conductive metal to provide gate conductor 170. Further processes to form structure 100 may include, e.g., forming back-gate terminals 174 configured to independently bias BT structure 120 and FET structure 130 through different back-gate wells 104.
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Silicide layer 148 (
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Embodiments of the disclosure may provide several technical advantages, examples of which are discussed herein. For example, embodiments of the disclosure allow BT structures 120 and FET structures 130 to be provided together over a single substrate and/or back-gate well 104 and electrically interconnected by coupling of base structure(s) 157 to gate structure(s) 167. The various operational advantages, circuits, and/or other features described herein may be achievable through interconnecting of extrinsic base 156 to gate conductor 170. This form of interconnection may not be conventionally achievable, e.g., because conventional processes do not form base structure(s) 157 through replacement metal gate (RMG) techniques because gate structure 167 is also present, e.g., by having been formed by a gate first (i.e. non-replacement metal gate) approach. These structural characteristics allow structure 100 to occupy less surface area on a device than conventional groups of bipolar transistors and FETs. During operation, the ability to apply the same or different back-gate bias to bipolar transistor structures 120 and FET structures 130 may accommodate higher performance requirements for certain bipolar transistors and may reduce total power consumption in a device.
The method and structure as described above is used in the fabrication of integrated circuit chips. The resulting integrated circuit chips can be distributed by the fabricator in raw wafer form (that is, as a single wafer that has multiple unpackaged chips), as a bare die, or in a packaged form. In the latter case the chip is mounted in a single chip package (such as a plastic carrier, with leads that are affixed to a motherboard or other higher-level carrier) or in a multichip package (such as a ceramic carrier that has either or both surface interconnections or buried interconnections). In any case the chip is then integrated with other chips, discrete circuit elements, and/or other signal processing devices as part of either (a) an intermediate product, such as a motherboard, or (b) an end product. The end product can be any product that includes integrated circuit chips, ranging from toys and other low-end applications to advanced computer products having a display, a keyboard or other input device, and a center processor
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.
Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about,” “approximately,” and “substantially,” are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and/or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise. “Approximately” as applied to a particular value of a range applies to both values, and unless otherwise dependent on the precision of the instrument measuring the value, may indicate +/−10% of the stated value(s).
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present disclosure has been presented for purposes of illustration and description but is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
This invention was made with government support under DARPA T-MUSIC program Agreement No. HR0011-20-3-0002 awarded by the United States Department of Defense. The government has certain rights in the invention.