Contract
Exhibit 10.10
CONTRACT NO. 0000000000/03
It is hereby agreed that this Amendment to Contract Number 0000000000/00 dated April 10,
2001, as amended, between ARAMCO SERVICES COMPANY (“ASC”) and NOVINT TECHNOLOGIES, INC. (“NOVINT”
OR “CONTRACTOR”), shall govern additional services to be performed by NOVINT (hereinafter referred
to as “Phase III Services” related to the Multimodal Interaction Techniques for Reservoir Modeling
Project:
| A. | JOB SPECIFICATION FOR PHASE III PROJECT: |
| 1. | Approximate date Phase III Services will commence: April 1, 2003. | ||
| 2. | Approximate period of Phase III Services: 16 weeks. | ||
| 3. | ASC Representative: Xxx Xxxxxx, Supervisor, Engineering Services. | ||
| 5. | Description of Phase III Services to be performed: |
| 5.1. | Introduction |
5.1.1. The main goals of the Phase 3 vnp2 effort are to further refine and
extend the voxelNotepad2 software to support simultaneous interactive
visual, haptic and auditory (i.e., multimodal) rendering of multiple
reservoir properties. In addition, the voxelNotepad program’s ECL loading
and rendering performance will continue to be improved and stereographic
visual rendering will be added. Particular attention will be paid to the
time required to load and time step through ECL data. Finally, in order to
support a wider evaluation of vnp2 by ARAMCO, a PHANTOM Desktop haptic
interface device, along with any required supporting graphics and sound
rendering boards and equipment, will be delivered to SAUDI ARAMCO via Aramco
Services Company in Houston, Texas.
| 5.2. | Key Tasks |
5.2.1. Multiple Volume Support
This task involves modifying vnp2 to handle loading multiple reservoir
properties during the same session. Up to three ECL properties and their
associated volumes will be able to be loaded during a given session. The
user will be able to independently select which property/volume (if any)
gets associated with the visual, haptic and auditory rendering channels. A
single
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volume/property can be associated with one or more of the rendering channels. Only one
volume/property, however, can be associated with any given rendering channel for
interactive rendering. Currently vnp2 only supports the visual and haptic rendering of a
single property/volume. The voxelNotepad2 program’s user interface and architecture will be
modified to handle loading multiple properties/volumes and allocate them to different rendering
modalities. One key aspect of the architectural changes is to allow the “haptic” and “sound”
volumes such that we don’t cut down our ability to handle a “large” volume by two-thirds (i.e., due
to memory usage). We will likely do some fast caching scheme to handle this since the haptic and
sonic rendering systems are only looking at a small portion of a volume at any given time.
5.2.2. Sound Support
This task involves modifying the vnp2 program to support the generation of sound for sensing
global events and for interactively rendering property values at the location of the 3D cursor
using sound.
5.2.3. Using Sound to Monitor Global Events
The vnp2 program will be extended to allow the definition and evaluation of one or more
condition/alarm pairs. These pairs define and constitute an event. The condition relates a
reservoir property to a specific value using a Boolean expression (e.g., oil saturation > 0,
pressure <= 5200). An alarm is a sound generated by playing a sound file. If a condition is met
(i.e., the Boolean expression evaluates to true), its associated alarm is triggered and the sound
is played. Events are evaluated whenever new properties/volumes are loaded or the time step is
changed.
A condition can be compound and involve multiple distinct reservoir properties. An example of a
compound Boolean expression is:
(AND (pressure > 500) (pressure <= 5200))
The following expression is an example of the use of multiple properties:
(AND (oil_saturation > 0) (pressure <= 5200)) The program will allow conditions involving any
reservoir property to be specified. A condition, however, can only trigger events when all the
reservoir properties referenced by the condition are loaded.
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The vnp2 program’s user interface and architecture will be modified to support the
definition, saving, loading and evaluation of sound global events. Both MP3 and MIDI sound files
will be able to be associated with events.
5.2.4. Using Sound to “Animate” a Value of a Property
This task involves modifying vnp2 to perform interactive sound rendering. The ability to
generate, save and load, frequency-based “sound maps”, very similar to the haptic and visual maps
currently found in vnp2, will be added. A single volume/property will be able to be associated with
the currently loaded sound map and the sound frequency associated with the value of that property
at the current 3D cursor location will be played.
The vnp2 program’s user interface and architecture will be modified to support the creation,
editing, saving and loading of sound maps. Sound frequency control will be added using a MIDI
interface subsystem that is capable of utilizing the PC sound card’s on-board MIDI capabilities as
well as external MIDI capable devices.
5.2.5. Miscellaneous Enhancements
Several miscellaneous enhancements will be made to vnp2 during the Phase 3 effort:
5.2.5.1. Ability to Operate without a Haptic Device
Currently, vnp2 requires that a haptic interface device be attached in order for the
program to operate in an error-free manner. The voxelNotepad2 program will be modified so
that it can operate error-free on PCs that are not outfitted with a haptic device.
5.2.5.2. Ability to Generate Stereoscopic Visual Feedback
Currently, the vnp2 program generates monoscopic imagery. It will be extended during the
Phase 3 effort to support and generate frame-sequential stereoscopic imagery. When in
stereoscopic mode, LCD shutter glasses (e.g., Stereographies LCD glasses) are required in
order to view the imagery in stereo.
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The vnp2 program will be modified in order to generate frame sequential stereo
pairs. In addition, the user interface and architecture will be modified to support the
control of basic stereographic parameters including inter-axial separation and zero depth
plane location.
| 5.2.5.3. | Modify Initial Volume Orientation to Correspond to ARAMCO Norms |
Currently, the orientation and location visual imagery generated by vnp2 does not
correspond to visualization norms used by ARAMCO (i.e., the data is rotated and there is a
flip of east-west data). The vnp2 program will be modified so that, when loaded, data is
the proper orientation and form for visualization by ARAMCO.
5.2.6.
Performance Improvements
The performance of the voxelNotepad2 program continues to be as critical to its
utility as its feature set. At the end of the Phase 2 effort, vnp2 was capable of
interactively visualizing data sets of approximately 1 million cells. These data sets
could be viewed, rotated, translated and zoomed at interactive rates (i.e., approximately
30Hz). Initial loading times for property data and the time required to move between time
steps, however, is still less than optimal. Some tests indicate initial ECL data load
times of 300 seconds for 1 million cells. The loading of “pre-processed” ECL data
(including for time stepping purposes) is on the order of 60 seconds. Xxxxxx Xxxxx 0 of
the effort, we will significantly improve the voxelNotepad2 program’s loading and time
stepping performance. Our goal is to be able to load and time step pre-processed 1 million
cell data sets in 15 seconds or less. In addition, we will explore the vnp2 programs’
performance and possible improvements for data sets up to and including 10 million cells.
The vnp2 program’s loading and time stepping code will be significantly optimized during
the Phase 3 effort. We will modify the vnp2 pre-processing algorithms and code to
directly save property and time step access information. In addition, we will optimize
the vnp2 program’s in memory data caching system to work efficiently with 1 million cell
and larger data sets. Finally, we will characterize the program’s performance on data
sets larger than 1 million cells and identify possible avenues to supporting data sets up
to and
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including 10 million cells.
| 5.3. | Deliverables |
The deliverables for the Phase 3 effort are:
| 5.3.1. | voxelNotepad2 Prototype program executables. | ||
| 5.3.2. | Documentation including a User Manual and Installation instructions in Microsoft Word format. | ||
| 5.3.3. | Internal use of vnp2 Prototype license for evaluation and demonstration within SAUDI ARAMCO. | ||
| 5.3.4. | Hardware to convert a SAUDI ARAMCO computer system to a Xxxxx 0 Xxxxxxxxxx Xxxxxxxxxxx. Novint will deliver to ASC (FOB Houston, Texas) hardware to allow an existing SAUDI ARAMCO computer to do the visual, haptic and sound required for the Phase 3 voxelNotepad system. This hardware includes: a) a PHANTOM Desktop model haptic interface device; b) a PCI graphics card capable of operating with the haptic interface device and of supporting frame sequential stereoscopic graphics; c) sound interface hardware compatible with the haptic interface device and capable of supporting real-time MIDI and mp3 sound generation; and d) visual display calibration hardware required in order to calibrate and properly display vnp2 visual information. | ||
| Please see Attachment 2 for more details on the PHANTOM Desktop model haptic interface device. | |||
| 5.3.5. | Hardware to upgrade an existing SAUDI XXXXXX Xxxxx 0 Xxxxxxxxxx Xxxxxxxxxxx to a Phase 3 configuration. SAUDI ARAMCO currently has a computer system outfitted with a PHANTOM Desktop model haptic interface device. This system supports the Phase 2 vnp2 software. Additional hardware is required in order to allow this existing system to fully support Phase 3 voxelNotepad capabilities. Novint will deliver to ASC (Houston, Texas) hardware to upgrade the existing SAUDI ARAMCO computer system to the new configuration. This hardware includes: a) a PCI graphics card capable of operating with the haptic interface device and of supporting frame sequential |
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stereoscopic graphics; and b) sound interface hardware compatible with the
haptic interface device and capable of supporting real-time MIDI and mp3 sound
generation.
| 5.4. | Timeline |
The Phase 3 effort will be completed during calendar year 2003. An approximate timeline is
given below.
In order to facilitate continual improvement and feedback, several “in progress” versions
of vnp2 will be delivered to SAUDI ARAMCO. In addition, the hardware required by SAUDI
ARAMCO to set up a new Multimodal Workstation and to upgrade an existing Xxxxx 0
Xxxxxxxxxx Xxxxxxxxxxx to a Phase 3 configuration (see the Deliverables section of this
document) will be delivered to ASC (for shipping to SAUDI ARAMCO) early in the effort.
Weeks (After Project Start)
| 0 | Purchase order issued to Novint. | ||
| 4 | Phase 3 Multimodal Workstation hardware (see Deliverables 3 & 4) shipped to ASC | ||
| 6 | In-Progress Version 1 software delivered to SAUDI ARAMCO — SAUDI ARAMCO evaluation and sign-off. This version includes (see Key Tasks): |
| • | Miscellaneous Enhancements | ||
| • | Performance Improvements |
| 12 | In-Progress Version 2 software delivered to SAUDI ARAMCO — SAUDI ARAMCO evaluation and sign-off. This version includes (see Key Tasks): |
| • | Initial Multiple Volume Support | ||
| • | Initial Sound Support |
| 16 | Final Phase 3 voxelNotepad2 software and documentation delivered to SAUDI ARAMCO — SAUDI ARAMCO evaluation and signoff. |
| 5.5 | Responsibilities |
The overall responsibilities for the Phase 3 effort are:
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| 5.5.1. | SAUDI ARAMCO will provide a person to act as Novint’s technical and administrative contact for the duration of the project | ||
| 5.5.2. | Novint will assign a project leader, for the duration of the project, to coordinate all technical issues with the SAUDI ARAMCO point of contact. | ||
| 5.5.3. | Novint will complete the vnp2 software development at Novint facilities. Novint hardware will be utilized to complete these tasks. |
| 5.6. | Completion Criteria |
This project will be considered complete when the final version of the vnp2
prototype software has been installed and tested at the SAUDI ARAMCO facility and
SAUDI ARAMCO has completed its evaluation. Lack of feedback by SAUDI ARAMCO for 30
days or more after the delivery of any Phase 3 deliverable will be deemed
acceptance of that deliverable.
| 5.7. | License Rights |
Novint grants to ASC a non-exclusive, perpetual, royalty-free license to use
the vnp2 prototype program and any other software developed under this CONTRACT for
SAUDI ARAMCO’s internal use in Saudi Arabia. Such license rights include the right
of ASC or SAUDI ARAMCO to further develop such software for internal use only. The
license rights granted hereunder do not include the right to market, sell or
distribute the software to third parties. Novint retains sole rights of ownership,
development and commercial distribution for the vnp2 prototype source code and its
derivative works.
| B. | Compensation for Phase III Project: |
As full and complete compensation fro Novint’s satisfactory performance of the services described
in this Amendment’s Job Specification for Phase III Project, as well as the satisfactory
performance of all other obligations of NOVINT under this Contract, ASC shall pay NOVINT as
follows:
| 1. | Rates |
| 1.1. | See ATTACHMENT I, COMPENSATION DETAILS. |
| 2. | Payment Terms |
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CONTRACT NO. 0000000000/03
ASC agrees to the following payment schedule:
| 2.1. | Amount due upon execution of this Amendment: | $ | 14,710.40 | |||||||
| 2.2. | Amount due receipt of the Multimodal Workstation hardware: | $ | 14,710.40 | |||||||
| 2.3. | Amount due upon delivery of In-Progress Version 1 of the software: | $ | 14,710.40 | |||||||
| 2.4. | Amount due upon delivery of In-Progress Version 2 of the software: | $ | 14,710.40 | |||||||
| 2.5. | Amount due upon delivery of the Final Version of the vnp2 Phase 2 software and successful evaluation of the completed project: | $ | 14,710.40 |
| C. | Warranty |
| 1. | The Phase 3 vnp2 system is delivered as is. However, Novint will correct to ASC’s or SAUDI ARAMCO’s reasonable satisfaction all defects or flaws affecting the Phase III Project, and software’s performance or suitability for use. |
This amendment shall be retroactive and effective as of April 1, 2003.
Except as modified hereinabove, all other terms and conditions of Contract Number 0000000000/00,
as amended, shall remain in full force and effect.
| NOVINT TECHNOLOGIES, INC. | ARAMCO SERVICES COMPANY | |||||||||
By:
|
BY: | -S- Xxxxxxxxx Xx-Xxxxx | ||||||||
| Printed Name: | Xxxxxxxxx Xx-Xxxxx | |||||||||
| Title: | Manager, Technical Services | |||||||||
| Date: | Date: 8-22-03 | |||||||||
| [ILLEGIBLE] 8-21-03 | ||||||||||
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CONTRACT NO. 0000000000/03
ATTACHMENT I
COMPENSATION DETAILS
COMPENSATION DETAILS
1.
|
Multi-Volume Support | ||||||||||||
| Multi-Volume Support | $ | 18,039 | |||||||||||
| Core Multi-Volume Support | 40 | % | $ | 7,216 | |||||||||
| Condition File IO | 10 | % | $ | 1,804 | |||||||||
| Support for Global Events | 30 | % | $ | 5,412 | |||||||||
| Sound File Support | 20 | % | $ | 3,608 | |||||||||
2.
|
Sound Support | ||||||||||||
| Gobal Events | $ | 14,969 | |||||||||||
| Core Condition Evaluation Support | 40 | % | $ | 5,988 | |||||||||
| Condition File IO | 10 | % | $ | 1,497 | |||||||||
| Ul Support for Global Events | 30 | % | $ | 4,491 | |||||||||
| Sound File Support | 20 | % | $ | 2,994 | |||||||||
| Property Animation 18,039 $ | |||||||||||||
| Ul Support for Sound Map | 15 | % | $ | 2,706 | |||||||||
| Core Sound Synthesis Support | 65 | % | $ | 11,725 | |||||||||
| Sound Map File IO | 20 | % | $ | 3,608 | |||||||||
3.
|
Miscellaneous Enhancements | ||||||||||||
| Miscellaneous Enhancements | $ | 3,745 | |||||||||||
| Remove Haptics from Visual Rendering | 20 | % | $ | 749 | |||||||||
| Stereographic Support | 75 | % | $ | 2,809 | |||||||||
| Update Visual System to ARAMCO Norms | 5 | % | $ | 187 | |||||||||
4.
|
Performance Improvements | ||||||||||||
| Miscellaneous Enhancements | $ | 4,360 | |||||||||||
| Remove Haptics from Visual Rendering | 20 | % | $ | 872 | |||||||||
| Stereographic Support | 75 | % | $ | 3,270 | |||||||||
| Update Visual System to ARAMCO Norms | 5 | % | $ | 218 | |||||||||
5.
|
Multimodal Workstation Hardware | ||||||||||||
| Multimodal Workstation Hardware | $ | 14,400 | |||||||||||
| * PHANTOM Desktop Haptic Interface Device(1x) | |||||||||||||
| * Haptics compatible graphics system (2x) | |||||||||||||
| * Haptics compatible sound interface (2x) | |||||||||||||
| * Visual calibration system (1x) | |||||||||||||
TOTAL
|
$ | 73,552 |
END
OF ATTACHMENT I
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CONTRACT NO. 0000000000/03
ATTACHMENT
II
PHANTOM Desktop
PHANTOM Desktop
| 1. | Overview |
SensAble’s PHANTOM Desktop is designed to have the functionality, ergonomics, aesthetic and
price/point necessary to support mainstream applications. With this system designed for
office desktops, the Power Amplifier assembly has been eliminated, the computer connection
has been simplified and a more aesthetic design has been created. The PHANTOM Desktop
connects to the computer via an extended parallel port (EPP), and is powered by a compact,
universal (110/230VAC) power supply. An Encoder Stylus, which provides 6 degree of freedom
positional sensing, is standard. This PHANTOM supports the range of motion approximate to
hand movement pivoting at the user’s wrist.
| 2. | Specifications |
| Nominal position resolution | 1100 dpi 0.02 mm | |||
| Workspace | 6x5x5 in 16x13x13 cm | |||
| Backdrive friction | 0.23 oz 0.06 N | |||
| Maximum exertable force | 1 .45 Ibf 6.4 N | |||
| Closed loop stiffness | 20 Ibs/in 3.5 N/mm | |||
| Inertia (apparent mass at tip) | <0.17 lbm <75g | |||
| Footprint | 7x6 in 18x16 cm |
| 3. | Warranty |
Novint extends SensAble’s warranty to its customers. SensAble warrants that their products
shall be free from manufacturing defects and agrees to provide, free of charge, replacements
for any components found to be defective within 1 year of delivery.
END OF ATTACHMENT II
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