Client Contract v. 1.02

Contractor Team Members

 Tommy Byers 
 Jake Kitchener 
 Juan Maturino 
 Steve Silence 
 Paul Suh
Russell Taylor 
(Hereafter referred to as “client”)
David Stotts 
(Hereafter referred to as “boss”)
NanoManipulator Background
This microscope is used to view and manipulate atomic scale surfaces and objects. There are four components to this system, the actual microscope, the graphics system to display the information, a force feedback device PHANToM, and VRPN to allow all of these components to communicate. The microscope works by applying pressure to a surface with a very small, ten nanometer, pinhead to get height data. It then composes a picture on the graphics system using this data with the x and y coordinates of that sample point. In addition the PHANToM device can be used to feel this surface and also to apply addition force in order to manipulate the sample in the microscope. 

The nanoManipulator has been used since 1997 for a variety of experiments.  Many of these are medical related in the examination of different viruses.  Another important area of research is in the field of manipulating tiny carbon "bucky tubes". The key to the system is that it gives the user a virtual presence to work with samples down to the atomic scale. 

Another important ideal of the system is that the user can operate the microscope over a network with the use of the VRPN protocol. This allows for remote presentations of the system especially in teaching environments where the technology is not readily available. The key to this project is that the microscope is not always available to the CS department to work on the graphics system when people in the physics department are using the microscope or it is offline. The simulator will also allow work to begin on running the system over the Internet from remote sites.

Primary Requirements
The team shall develop an Atomic-Force Microscope Simulator to satisfy the following primary requirements of the client: 
    a) Run on Unix. 
    b) Use VRPN to communicate. 
    c) Simple functions are used in real time instead of reading in a file. 
    b) As the data file is read in the user will actually see the picture being loaded, as if it was an object that was really being scanned in real time. 
    e) Allow the user to feel the surface, handles all modes of scan & touch. 
    f) Addition of line-by-line noise offsets point-by-point noise. 
    g) Respond to (but doesn’t do anything with) PID, a force parameter and other commands from the microscope’s feedback system. 
    h) Adjustable scan resolution, scan rate, location. 
    i) Modify the surface based on the amount of force applied by the user. 
    j) Handles all VRPN messages types that the real scope handles. (May move to secondary requirements)

Secondary Requirements

The team will develop the following if time permits: (Note these are not required)

 a) Sends multiple data set (topological, lateral force, etc) 
 b) Load in a tip and it give tip artifacts in the scan. 
 c) Allow it to pop up a user interface to control parameters while running 
 d) Run on NT machines.
     a) Use of Intel and Co-Lab NT and Unix machines provided by computer science 
     b) MVRPN microscope code provided by the Client. 
     c) NanoManipulator Documentation provided by the Client. 
     d) PHANToM force-feed back device provided by computer science department. 
     e) Use of SGI workstation provided by computer science department.

The following clearly define any terms that may be unclear: 

    PHANToM – A device that gives the user a sense of touch that allows him/her to interact with the virtual world in many ways that are not possible without force feedback. 

    PID (proportional, integral, derivative) - Are parameters on the microscope’s feedback system. 

    VRPN (Virtual Reality Peripheral Network) - Used to control peripherals and as an RPC library for the distributed nanoManipulator.

Nondisclosure Clause
The contractor agrees not give out software code from the other modules to individuals or groups wishing to exploit the software for personal gain.  The contractor will only use the software for the purpose of studying and building the simulator.  When the project is finished and the contractor agrees to no longer use the code and has no rights to code of other modules.

We sign with the understanding that this is a preliminary contract, which may be revised with our mutual agreement.

Russell Taylor – Client 

David Stotts - Boss: 

Tommy Byers - Contractor 

Jake Kitchener - Contractor 

Juan Maturino - Contractor 

Steve Silence - Contractor 

Paul Suh - Contractor