The method and system described herein may be used to determine a reference yaw rate for a vehicle chassis control system, and may do so across a wide spectrum of vehicle operating conditions. An anchor is pivotally attached to a body by positioning a head of the anchor within a cavity in the body. The solution mixture is then placed into contact with one or more surfaces to form a dopamine coating on the surface to reduce biofilm formation. The cavity is formed by milling away some of the thickness of a sacrificial insulator layer, which is the insulator layer under the solder-pad metal layer.