Document:

exv10w9

 

EXHIBIT 10.9

CONTRACT ADDENDUM

ADDENDUM NO. 01

to Contract No. 6400711368/00

Novint voxelNotepad2 Phase II

Prototype Software Project

It is hereby agreed that this ADDENDUM to Contract Number 711368/00, dated April 10, 2001, 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 II
Services”) related to the voxelNotepad2 (“vnp2”) Phase II Prototype Software Project (“Phase II
Project”):

	A.	 	NOVINT warrants that all Phase II Beta and Final version software will be delivered AS-IS,
WHERE IS. However, NOVINT will correct to ASC’s or SAUDI ARAMCO’s reasonable
satisfaction all defects affecting the Phase II Beta and Final version software’s performance
or suitability for use.

	B.	 	Job Specification for Phase II Project:

	 	1.	 	Approximate date Phase II Services will commence: July 8, 2002.
	 
	 	2.	 	Approximate period of Phase II Services: six (6) months.
	 
	 	3.	 	The Phase II Services shall be performed at NOVINT’s
facilities or such other location as ASC or SAUDI ARAMCO shall designate in writing from time to time.
	 
	 	4.	 	ASC representative: Simon A. Vreeke, General Supervisor, Engineering Services.
	 
	 	5.	 	Description of Phase II Services to be performed:

	 	5.1	 	Introduction

5.1.1. During Phase I of the Project, the vnp2 program was extended and enhanced
to read **** format data files. ****, **** and **** data are now supported
in vnp2 and can be seen and felt in the desktop environment. Data sets on
the order of **** were used during Phase I and preliminary experiments
indicated that utilization of the RTVIZ VolumePro line of volume graphics
acceleration cards can enable data sets of **** and larger to be
interactively rendered on a PC.

5.1.2. The primary objective of Phase II is to further refine and extend the
vnp2 software to interactively render **** data sets of
the size currently in use by SAUDI ARAMCO in its **** modeling and ****
efforts. Full support for the volumePro volume graphics card will be
added to the vnp2 software to interactively render **** data sets of
approximately**** to **** million **** (“Full volumePro Support”).
Further, the ability to constrain visualization and interaction to a
subset of the data (“Constrained Data Sculpting”) as well as the ability to save and load/ re-load
overall program state (“Persistence/ State Saving”) will be added to
vnp2 software.

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ADDENDUM NO. 01

to Contract No. 6400711368/00Novint

voxelNotepad2 Phase II Prototype

Software Project

	 	5.2	 	Summary of vnp2 Software Phase II modifications

5.2.1. Full volumePro Support.

	 	•	 	Enhance vnp2 software by adding volumePro 500 series graphic
card(s) to interactively render **** to **** million ****.
	 
	 	•	 	Make (i) modifications to current vnp2 software architecture to support
data sets of **** to **** million **** and (ii) specific upgrades to utilize
volumePro hardware, including modifications to interface graphics depth buffer
with volumePro.
	 
	 	•	 	Add full visualization parameter, depth buffer, clipping plane and
interactive cursor support for the volumePro cards to vnp2.

5.2.2. Constrained Data Sculpting.

	 	•	 	Enhance vnp2 software’s ability to define a subset of ****data to be
visually and haptically rendered.
	 
	 	•	 	The enhancements will be achieved by using collections of
“bounding planes,” which will constrain the visual renderings and haptic interaction cursor, thus allowing the user to select a rectangular subset of the **** data set and volume by specifying six (6) bounding
planes (i.e., two planes for each major axis of the data set).

5.2.3. Persistence/ State Saying.

	 	•	 	Add the ability to save and re-load the current working state (which
includes, without limitation, the entire data set and all visualization
parameters) of the vnp2 program at any time during the operation of
vnp2.
	 
	 	•	 	The addition of the save and re-load functions will enable users to
save the current working state, exit the program, and return to the
program and immediately continue to work at the program exit
location.
	 
	 	•	 	Specific modifications include: (i) updating vnp2 software so that all
relevant state Information (“State Class Information”) is retained
in a centralized location known as the “State Class”; (ii) reading and
writing routines needed to save and load the State Class information;
and, (iii) updating the user interface to support the reading and
writing routines so that each user is queried or prompted on program
exit to save the State Class Information.

	 	5.3	 	Deliverables

5.3.1. NOVINT will deliver to SAUDI ARAMCO vnp2 prototype program
executables.

5.3.2. NOVINT will grant SAUDI ARAMCO internal use of vnp2 prototype
license for evaluation and demonstration within SAUDI ARAMCO.

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ADDENDUM NO. 01

to Contract No. 6400711368/00

Novint voxelNotepad2 Phase II

Prototype Software Project

	 	5.4	 	Timeline

	 	5.4.1.	 	SAUDI ARAMCO delivers purchase order to NOVINT (project start—
estimated July 1, 2002)
	 
	 	5.4.2.	 	Detailed project specification and plan delivered by NOVINT to
SAUDI ARAMCO no later than two (2) weeks after SAUDI ARAMCO
issues a purchase order to NOVINT.
	 
	 	5.4.3.	 	SAUDI ARAMCO and NOVINT confirm detailed project specifications
and plan within four (4) weeks after project start date.
	 
	 	5.4.4.	 	Beta version of Phase II vnp2 software delivered by NOVINT to
SAUDI ARAMCO within twelve (12) weeks after project start date.
	 
	 	5.4.5	 	Final Phase II vnp2 software delivered by NOVINT to SAUDI ARAMCO within sixteen
(16) weeks after project start date.

	 	5.5.	 	Responsibilities

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’s
facilities utilizing NOVINT hardware.

	 	5.6	 	Completion Criteria

	 	5.6.1.	 	This project will be considered complete when the final version of the vnp2 prototype
has been installed and tested at the SAUDI ARAMCO facility and SAUDI ARAMCO has completed
its evaluation to its reasonable satisfaction.

	 	5.7	 	License Rights

5.7.1. 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. These license rights include the right of ASC or SAUDI ARAMCO to further develop
software for internal use. These license rights do not include the right to market, sell or
distribute the vnp2 prototype program or internally developed

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ADDENDUM NO. 01

to Contract No. 6400711368/00

Novint voxelNotepad2 Phase II

Prototype Software Project

software
to any third party. NOVINT retains sole rights of ownership,
development, and commercial distribution for the vnp2 prototype source code and
its derivative works.

	C.	 	Compensation for Phase II Project:

As
full and complete compensation for NOVINT’s satisfactory performance of the services
described in this ADDENDUM’s Job Specification for Phase II 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 Full volumePro Support

	 	 	 	 	 
	Large data set support architectural modifications
	 	$	12,000.00	 
	Visualization parameter interface
	 	$	2,400.00	 
	Full depth buffer support
	 	$	4,000.00	 
	Clipping plane refinements
	 	$	800.00	 
	Cursor refinements
	 	$	800.00	 
	Data reading and caching refinement
	 	$	4,000.00	 
	User interface support
	 	$	7,185.00	 

	 
	 	 	 	1.2 Constrained Data Sculpting

	 	 	 	 	 
	Sub-volume support
	 	$	8,000.00	 
	User interface support
	 	$	4,800.00	 

	 
	 	 	 	1.3 Persistence/ state saving

	 	 	 	 	 
	State class implementation
	 	$	4,000.00	 
	Reader/ writer
	 	$	4,000.00	 
	User interface support
	 	$	2,400.00	 
	 
	 	 	 
	 
	 	$	54,385.00	 

	 	2.	 	Terms

	 	2.1	 	ASC agrees to the following payment schedule;

	 	2.1.1.	 	US$17,947.05 is due once both ASC and NOVINT have executed this
Addendum.
	 
	 	2.1.2.	 	US$17,947.05 is due upon delivery of the Beta version of Phase II vnp2
software to SAUDI ARAMCO.

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ADDENDUM NO. 01

to Contract No. 6400711368/00Novint

voxelNotepad2 Phase II Prototype

Software Project

	 	2.1.3.	 	US$18,490.90 is due upon delivery of the Final version of the Phase II vnp2
software to SAUDI ARAMCO and upon SAUDI ARAMCO’s reasonable determination, in
its sole discretion, that the Final version of the Phase II vnp2 software is
completely satisfactory in operation and functionality.

D. The Contract Number “711368/00” is hereby changed to Contract No. “6400711368/00” as a
result of the implementation of a new enterprise software system by ASC. All future invoices must
reflect this new Contract Number.

This ADDENDUM shall be effective as of the last execution date set forth below.

Except as specifically modified herein, all other terms and conditions of Contract Number
711368/00 shall remain in full force and effect.

	 	 	 	 	 	 	 	 	 	 	 
	NOVINT TECHNOLOGIES, INC.	 	 	 	 	 	ARAMCO SERVICES COMPANY
	 
	 	 	 	 	 	 	 	 	 	 
	By:

	 	/s/ Tom Anderson
	 	 	 	 	 	By:
	 	/s/ Simon A. Vreeke
	 

	 	 
	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 
	Printed Name: Tom Anderson	 	 	 	 	 	Printed Name: Simon A. Vreeke
	 
	 	 	 	 	 	 	 	 	 	 
	Title: CEO	 	 	 	 	 	Title: General Supervisor, Engineering Services
	 
	 	 	 	 	 	 	 	 	 	 
	Date: 7/12/02	 	 	 	 	 	Date: July 10, 2002

5exv10w10

 

EXHIBIT
10.10

CONTRACT
NO. 6400711368/03

It is hereby agreed that this Amendment to Contract Number 6400711368/00 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 **** 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: Bob Finley, 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
**** (i.e., multimodal) rendering of multiple reservoir properties. In addition,
the voxelNotepad program’s **** 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 **** through **** 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
**** rendering boards and equipment, will be delivered to SAUDI ARAMCO via Aramco
Services Company in Houston, Texas.

	 	5.2.	 	Key Tasks

5.2.1. **** Volume Support

This task involves modifying vnp2 to handle loading **** properties during
the same session. Up to **** 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
**** 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 **** properties/volumes and allocate them to different rendering
modalities. One key aspect of the architectural changes is to allow the “haptic” and **** 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 **** scheme to handle this since the haptic and ****
rendering systems are only looking at a small portion of a volume at any given time.

5.2.2 **** Support

This task involves modifying the vnp2 program to support the generation of **** for sensing global
events and for interactively rendering property values at the
location of the 3D cursor using ****.

5.2.3
Using **** to Monitor Global **** 

The vnp2 program will be extended to allow the definition and evaluation of one or more ****
pairs. These pairs define and constitute an ****. The **** relates a **** property to a specific
value using a Boolean expression (e.g., **** > 0, **** <= 5200). An **** is a **** generated
by playing a **** file. If a **** met (i.e., the Boolean expression evaluates to true), its associated
**** is triggered and the **** is played. **** are evaluated whenever new properties/volumes are
loaded or the **** is changed.

A
**** can be compound and involve multiple distinct **** properties. An example of a
compound Boolean expression is:

(AND
**** > 500) **** < = 5200))

The following expression is an example of the use of multiple properties:

(AND
**** > 0)(**** < = 5200))

The program will allow **** involving any **** property to be specified. A****, however, can only
trigger **** when all the **** properties referenced by the **** 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 **** global **** Both **** and **** **** files will be able to be
associated with ****.

5.2.4.
Using **** to “Animate” a Value of a Property

This
task involves modifying vnp2 to perform interactive **** rendering. The ability to generate,
save and load, **** -based “**** 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 **** map and the **** **** 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 **** maps. **** **** control will be added using a **** interface
subsystem that is capable of utilizing the PC **** card’s on-board **** capabilities as well as
external **** 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 ****

Currently, vnp2 requires that a **** 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 ****.

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., Stereographics 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 ****. These data sets could be viewed, rotated,
translated and zoomed at **** rates (i.e., approximately****). Initial loading times for
property data and the time required to move between ****, however, is still less than optimal.
Some tests indicate initial **** data load times of **** seconds for ****. The loading of
“pre-processed” **** data (including for **** purposes) is on the order of **** seconds.
During Phase 3 of the effort, we will significantly improve the voxelNotepad2 program’s
loading and **** performance. Our goal is to be able to load and
****pre-processed **** data sets in **** seconds or less. In addition, we will explore
the vnp2 programs’ performance and possible improvements for data sets up to and including
****.

The vnp2 program’s loading and**** 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 **** access information. In addition, we will optimize the vnp2 program’s in **** data
**** system to work efficiently with **** and
larger data sets. Finally, we will characterize the program’s performance on data sets larger
than **** and identify possible avenues to supporting data sets up to and

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NO. 6400711368/03

including ****

	 	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 Phase 3 Multimodal Workstation. 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 ARAMCO Phase 2
Multimodal Workstation 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 Phase 2 Multimodal Workstation
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 ****Volume Support
	 
	 	•	 	Initial **** 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
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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 6400711368/00, as
amended, shall remain in full force and effect.

	 	 	 	 	 	 	 	 	 	 	 
	NOVINT TECHNOLOGIES, INC.	 	 	 	ARAMCO SERVICES COMPANY	 	 
	 
	 	 	 	 	 	 	 	 	 	 
	By:

	 	 	 	 	 	By:
	 	/s/ Abdulaziz Al-Omran	 	 
	 

	 
	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 
	Printed Name:	 	 	 	 	Abdulaziz Al-Omran	 	 
	 

	 	 	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 
	Title:	 	 	 	 	 	Manager, Technical Services	 	 
	 

	 	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 
	Date: 	 	 	 	 	 	Date: 8/22/03	 	 
	 

	 	 	 	 	 	 	 	 	 

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ATTACHMENT I

COMPENSATION DETAILS

	 	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	1.
	 	**** Volume Support	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	**** Volume Support	 	 	 	 	 	 	 	 	 	$	18,039	 
	 
	 	Core **** Volume Support	 	 	40	%	 	$	7,216	 	 	 	 	 
	 
	 	**** File IO	 	 	10	%	 	$	1,804	 	 	 	 	 
	 
	 	Ul Support for Global****	 	 	30	%	 	$	5,412	 	 	 	 	 
	 
	 	**** File Support	 	 	20	%	 	$	3,608	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	2.
	 	**** Support	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	Global ****	 	 	 	 	 	 	 	 	 	$	14,969	 
	 
	 	Core **** Evaluation Support	 	 	40	%	 	$	5,988	 	 	 	 	 
	 
	 	**** File IO	 	 	10	%	 	$	1,497	 	 	 	 	 
	 
	 	Ul Support for Global ****	 	 	30	%	 	$	4,491	 	 	 	 	 
	 
	 	**** File Support	 	 	20	%	 	$	2,994	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	Property Animation 18,039 $	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	Ul Support for **** Map	 	 	15	%	 	$	2,706	 	 	 	 	 
	 
	 	Core **** Synthesis Support	 	 	65	%	 	$	11,725	 	 	 	 	 
	 
	 	**** Map File IO	 	 	20	%	 	$	3,608	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	3.
	 	Miscellaneous Enhancements	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	 	 	 	 	 	 	 	 	 	 	 	 	 
	 
	 	Miscellaneous Enhancements	 	 	 	 	 	 	 	 	 	$	3,745	 
	 
	 	Remove **** 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 **** 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 

9

 

CONTRACT NO. 6400711368/03

ATTACHMENT II

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 <75 g
	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 Il

10

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