diff --git a/docs/api-xcb-provider-xorg.md b/docs/api-xcb-provider-xorg.md
index c4afc97..866361f 100644
--- a/docs/api-xcb-provider-xorg.md
+++ b/docs/api-xcb-provider-xorg.md
@@ -11,13 +11,13 @@ or entire screens managed by the Xorg server.
 The general format of a DAP spec for the `xcb` stim-buff-api with the `xorg` provider 
 is:
 ```
-sensor-type|dev-identifier|stim-iface-api|xcb(stim-buff-api-params)|xorg(provider-params)|deviceSelector
+sensor-type|dev-identifier|quale-iface-api|xcb(stim-buff-api-params)|xorg(provider-params)|deviceSelector
 ```
 
 * `sensor-type` is always either '`+idev`' (interoceptor), '`+edev`' 
   (extrospector), or '`+adev`' (actuator).
 * `dev-identifier` is a user-defined name for this specific device instance.
-* `stim-iface-api` is the name of the StimIface library that should be used to 
+* `quale-iface-api` is the name of the StimIface library that should be used to 
   process the data from the stim buffer.
 * `stim-buff-api` is `xcb` in this case, and the `stim-buff-api-params` in parentheses may be 
   omitted, in which case the parentheses will be empty, but the parentheses 
@@ -98,25 +98,25 @@ xcb(dev-string)|My\ Exact\ Window\ Name
 
 ### To attach a specific window by name (substring match):
 ```
-+edev|my-window|visual-stimiface|xcb(dev-substring)|xorg(display=0|screen=0)|my-window
++edev|my-window|visual-qualeiface|xcb(dev-substring)|xorg(display=0|screen=0)|my-window
 ```
 This will attach to a window whose name contains "my-window" as a substring.
 
 ### To attach a specific window by exact name:
 ```
-+edev|my-window|visual-stimiface|xcb(dev-string)|xorg(display=0|screen=0)|My\ Exact\ Window\ Name
++edev|my-window|visual-qualeiface|xcb(dev-string)|xorg(display=0|screen=0)|My\ Exact\ Window\ Name
 ```
 This will attach to a window whose name exactly matches "My Exact Window Name".
 
 ### To attach a specific window by numeric ID:
 ```
-+edev|my-window|visual-stimiface|xcb(dev-id)|xorg(display=0|screen=0)|123456
++edev|my-window|visual-qualeiface|xcb(dev-id)|xorg(display=0|screen=0)|123456
 ```
 This will attach to a window with the numeric ID `123456`.
 
 ### To attach the entire screen:
 ```
-+edev|my-screen|visual-stimiface|xcb()|xorg(display=0|screen=0)|all
++edev|my-screen|visual-qualeiface|xcb()|xorg(display=0|screen=0)|all
 ```
 This will attach to the entire screen `0` of display `0`.
 
diff --git a/docs/deviceAttachmentPipelineSpec.md b/docs/deviceAttachmentPipelineSpec.md
index 32a771b..8ed3636 100644
--- a/docs/deviceAttachmentPipelineSpec.md
+++ b/docs/deviceAttachmentPipelineSpec.md
@@ -23,11 +23,11 @@ perceptual inputs -- like your own sense organs. For example, if you attach a
 camera as a sensor, salmanoff will experience it in the same way that you
 experience the visual sense data from your eyes.
 
-## StimIface (Stimulus Interface):
+## QualeIface (Quale Interface):
 
-A StimIface is a **Stim**ulus **I**nter**face** library that connects to a
+A QualeIface is a **Quale** **I**nter**face** library that connects to a
 particular stim buffer and allows the mind to process the stim features
-presented in the device's stim buffers. StimIface libraries replace the
+presented in the device's stim buffers. QualeIface libraries replace the
 previous notion of an implexor. They provide the interface between raw device
 data and the mind's processing capabilities.
 
@@ -35,7 +35,7 @@ data and the mind's processing capabilities.
 
 The general format of a DAP specification is:
 ```
-sensor-type|dev-identifier|stim-iface-api|stim-buff-api(api-params)|provider(provider-params)|dev-selector
+sensor-type|dev-identifier|quale-iface-api|stim-buff-api(api-params)|provider(provider-params)|dev-selector
 ```
 
 * `sensor-type` is always either '`+idev`' (interoceptor), '`+edev`'
@@ -44,7 +44,7 @@ sensor-type|dev-identifier|stim-iface-api|stim-buff-api(api-params)|provider(pro
   This represents a logical device that can be accessed through multiple
   providers and may expose multiple stim features. In a sense it's like a
   sense organ or sense modality.
-* `stim-iface-api` is the name of the StimIface library that should be used to
+* `quale-iface-api` is the name of the QualeIface library that should be used to
   process the data from the stim buffer. This replaces the previous implexor
   concept.
 * `stim-buff-api` is the interface that provides access to a specific stim
@@ -66,7 +66,7 @@ If there's more than one parameter item in a list of `stim-buff-api-params` or
 `provider-params`, then the individual items in a list of `stim-buff-api-param` or
 `provider-params` should be separated by the h-bar character (`|`). E.g:
 ```
-+edev|soundcard0|audio-stimiface|alsa-audio(shmem|param2|param3)|alsa()|cardname
++edev|soundcard0|audio-qualeiface|alsa-audio(shmem|param2|param3)|alsa()|cardname
 ```
 
 Each parameter must be in one of these forms:
@@ -78,9 +78,9 @@ Each parameter must be in one of these forms:
 
 The `stim-buff-api-params` should **never** include options related to the
 stim buffer's type or format. The `stim-buff-api` must read and infer such
-configuration details from the `stim-iface-api` portion of the DAP spec, and
+configuration details from the `quale-iface-api` portion of the DAP spec, and
 configure itself accordingly to enable connection by the specified
-stim-iface library in the way that it has been configured.
+quale-iface library in the way that it has been configured.
 
 `stim-buff-api-params` are for options that are:
 - Device-specific (not modality-wide)
@@ -148,33 +148,33 @@ required to effectuate the stim-buff controls.
 
 ### To attach a particular window from a window manager:
 ```
-+edev|my-window|visual-stimiface|wayland()|wayland(server-socket)|window0
++edev|my-window|visual-qualeiface|wayland()|wayland(server-socket)|window0
 ```
 Connect to the Wayland server that's listening on `server-socket`, using the
 `wayland` stim-buff-api. Ask that Wayland server to give salmanoff read-access to all of
 the frames composited into the window buffer for `window0`. Use salmanoff's
-`visual-stimiface` to process the visual data from that `window0`'s compositor buffer.
+`visual-qualeiface` to process the visual data from that `window0`'s compositor buffer.
 
 ### To attach a window manager's entire rendered desktop:
 ```
-+edev|my-desktop|visual-stimiface|wayland()|wayland(listen-socket)|all
++edev|my-desktop|visual-qualeiface|wayland()|wayland(listen-socket)|all
 ```
 In most cases, this is basically the same as attempting to attach all of the
 underlying GFX server's output.
 
 Connect to the Wayland server that's listening on `listen-socket`, using the
 `wayland` stim-buff-api. Ask that Wayland server to give salmanoff read-access to the
-entire compositor framebuffer. Use salmanoff's `visual-stimiface` to process the visual data from
+entire compositor framebuffer. Use salmanoff's `visual-qualeiface` to process the visual data from
 that Wayland server's compositor buffer.
 
 ### To attach all of an Xorg server's gfx output to all screens:
 ```
-+edev|my-xorg-display|visual-stimiface|x11()|xorg(listen-socket)|all
++edev|my-xorg-display|visual-qualeiface|x11()|xorg(listen-socket)|all
 ```
 
 Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
 stim-buff-api. Ask that Xorg server to let Salmanoff read out all of the frames written
-out to all screens. Use salmanoff's `visual-stimiface` to process the visual data from the
+out to all screens. Use salmanoff's `visual-qualeiface` to process the visual data from the
 server's gfx framebuffer.
 
 In most cases, this is basically the same as attempting to attach all of the
@@ -186,11 +186,11 @@ WM's output.
 
 ### To attach all of an Xorg server's gfx output to a particular screen:
 ```
-+edev|my-screen|visual-stimiface|x11()|xorg(listen-socket)|:0
++edev|my-screen|visual-qualeiface|x11()|xorg(listen-socket)|:0
 ```
 Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
 stim-buff-api. Ask that Xorg server to let Salmanoff read out all of the frames written
-out to display `:0`. Use salmanoff's `visual-stimiface` to process the visual data from display
+out to display `:0`. Use salmanoff's `visual-qualeiface` to process the visual data from display
 `:0`'s framebuffer.
 
 * Implementation note:
@@ -199,30 +199,30 @@ out to display `:0`. Use salmanoff's `visual-stimiface` to process the visual da
 
 ### To attach a camera device by connecting directly to its Linux driver:
 ```
-+edev|my-camera|visual-stimiface|v4l()|linux()|/dev/video0
++edev|my-camera|visual-qualeiface|v4l()|linux()|/dev/video0
 ```
 We specify that we want to use the `linux` kernel's loaded driver to connect
 to communicate with `/dev/video0`, via the `Video4Linux` stim-buff-api. We want salmanoff
-to use the `visual-stimiface` library to process the visual data from `/dev/video0`'s stim buffer.
+to use the `visual-qualeiface` library to process the visual data from `/dev/video0`'s stim buffer.
 
 If `/dev/video0` is already consumed by another process, this may likely fail.
 
 ### To attach a microphone that's managed by ALSA server:
 ```
-+edev|my-microphone|audio-stimiface|alsa-mic(shmem)|alsa()|cardname
++edev|my-microphone|audio-qualeiface|alsa-mic(shmem)|alsa()|cardname
 ```
 
 Connect to the ALSA server via `shmem`, using the `alsa-mic` stim-buff-api. Request access to
 the microphone function of the sound card with the name `cardname`. Use the
-`audio-stimiface` library to process the audio data from `cardname`'s microphone stim buffer.
+`audio-qualeiface` library to process the audio data from `cardname`'s microphone stim buffer.
 
 ### To attach a thermal sensor managed by Linux:
 ```
-+idev|my-thermal|thermal-stimiface|thermal-zone()|linux()|/sys/class/thermal_zone0
++idev|my-thermal|thermal-qualeiface|thermal-zone()|linux()|/sys/class/thermal_zone0
 ```
 
 Use the `thermal-zone` SysFS stim-buff-api provided by `linux` to connect to the sensor
-`/sys/class/thermal_zone0`. Use the `thermal-stimiface` library to process the thermal data from
+`/sys/class/thermal_zone0`. Use the `thermal-qualeiface` library to process the thermal data from
 `thermal_zone0`'s heat stim buffer.
 
 ## Multiple Provider Examples:
@@ -232,9 +232,9 @@ Use the `thermal-zone` SysFS stim-buff-api provided by `linux` to connect to the
 The same physical sound card `soundcard0` can be accessed through different providers:
 
 ```
-+edev|soundcard0|audio-stimiface|alsa-audio()|alsa()|card0
-||| +edev|soundcard0|audio-stimiface|direct-file-ops()|linux()|/dev/snd/pcmC0D0p
-||| +idev|soundcard0|audio-stimiface|alsa-mic()|alsa()|card0
++edev|soundcard0|audio-qualeiface|alsa-audio()|alsa()|card0
+||| +edev|soundcard0|audio-qualeiface|direct-file-ops()|linux()|/dev/snd/pcmC0D0p
+||| +idev|soundcard0|audio-qualeiface|alsa-mic()|alsa()|card0
 ```
 
 This shows:
@@ -247,9 +247,9 @@ This shows:
 A camera device `camera0` might expose different data streams:
 
 ```
-+edev|camera0|visual-stimiface|v4l-rgb()|linux()|/dev/video0
-||| +edev|camera0|visual-stimiface|v4l-yuv()|linux()|/dev/video0
-||| +idev|camera0|thermal-stimiface|v4l-thermal()|linux()|/dev/video0
++edev|camera0|visual-qualeiface|v4l-rgb()|linux()|/dev/video0
+||| +edev|camera0|visual-qualeiface|v4l-yuv()|linux()|/dev/video0
+||| +idev|camera0|thermal-qualeiface|v4l-thermal()|linux()|/dev/video0
 ```
 
 This shows the same camera device providing:
@@ -287,7 +287,7 @@ Separate individual DAP specifications with two consecutive h-bar
 characters (`||`),
 like this:
 ```
-+edev|my-window|visual-stimiface|wayland()|wayland(server-socket)|window0
-|| +edev|my-xorg-display|visual-stimiface|x11()|xorg(listen-socket)|all
-|| +idev|my-thermal|thermal-stimiface|thermal-zone()|linux()|/sys/class/thermal_zone0
++edev|my-window|visual-qualeiface|wayland()|wayland(server-socket)|window0
+|| +edev|my-xorg-display|visual-qualeiface|x11()|xorg(listen-socket)|all
+|| +idev|my-thermal|thermal-qualeiface|thermal-zone()|linux()|/sys/class/thermal_zone0
 ```
diff --git a/docs/livox-gen1-lidar-dap-spec.md b/docs/livox-gen1-lidar-dap-spec.md
index 101d76b..bc75f9a 100644
--- a/docs/livox-gen1-lidar-dap-spec.md
+++ b/docs/livox-gen1-lidar-dap-spec.md
@@ -2,11 +2,20 @@
 
 ## Overview
 
-The LivoxGen1Lidar DAP specification defines how to attach to Livox Gen1 LiDAR devices and access their various data streams using a unified stim-buff-api with mode-based parameter selection.
+The LivoxGen1Lidar DAP specification describes how to attach to Livox Gen1
+LiDAR devices and access their various data streams. The Livox Gen1 LiDAR
+presents multiple stim features, each with its own dedicated stim-buff-api.
 
 ## Stim-Buff-API Structure
 
-The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-based parameters to specify which data interface to present.
+The LivoxGen1Lidar DAP uses multiple stim-buff-api names, one for each stim feature it presents:
+
+* `livoxGen1-pcloud` - Point cloud coordinate data
+* `livoxGen1-pcloudIntensity` - Point cloud intensity/reflectivity data  
+* `livoxGen1-gyro` - Gyroscope data from internal IMU
+* `livoxGen1-accel` - Accelerometer data from internal IMU
+
+Each stim-buff-api is designed to work with specific stim-iface libraries that understand the data format and processing requirements for that particular stim feature.
 
 ## DAP Specifications
 
@@ -16,21 +25,11 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
 
 **Syntax**:
 ```
-+idev | avia0 | structural-stimiface | livoxGen1(mode=pointCloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | pcloudIntensity | livoxGen1-pcloudIntensity(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Alternative Syntax** (all equivalent):
-```
-+idev | avia0 | structural-stimiface | livoxGen1(stim=pcloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
-+idev | avia0 | structural-stimiface | livoxGen1(affordance=pCloudI) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
-```
-
-**Mode Parameter Values** (synonymous):
-- `pointCloudIntensity`
-- `pcloudIntensity`
-- `pCloudIntensity`
-- `pCloudI`
-- `pcloudI`
+**Stim-Buff-API**: `livoxGen1-pcloudIntensity`
+**Quale-Iface-API**: `pcloudIntensity` - Processes intensity/reflectivity data from point clouds
 
 ### 2. Point Cloud Coordinate Data Device (Extrospector)
 
@@ -38,15 +37,21 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
 
 **Syntax**:
 ```
-+edev | avia0 | structural-stimiface | livoxGen1(mode=pcloud,format=xyz) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=xyz) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values** (synonymous):
-- `pcloud`
-- `pCloud`
-- `pointCloud`
+**Alternative Format Examples**:
+```
++edev | avia0 | pcloud(format=spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=spherical-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=dual-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=dual-spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+```
 
-**Format Parameter** (for point cloud modes):
+**Stim-Buff-API**: `livoxGen1-pcloud`
+**Quale-Iface-API**: `pcloud` - Processes spatial coordinate data from point clouds
+
+**Format Parameter Values** (for pcloud quale-iface-api):
 - `xyz`: Standard Cartesian coordinates (X, Y, Z)
 - `spherical`: Raw spherical coordinates
 - `spherical-cartesian`: Spherical coordinates converted to Cartesian
@@ -62,11 +67,11 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
 
 **Syntax**:
 ```
-+idev | avia0 | gyro-stimiface | livoxGen1(mode=gyro) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | gyro | livoxGen1-gyro(data-rate-hz=100) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values**:
-- `gyro`
+**Stim-Buff-API**: `livoxGen1-gyro`
+**Quale-Iface-API**: `gyro` - Processes gyroscope angular velocity data
 
 ### 4. IMU Accelerometer Data Device (Interoceptor)
 
@@ -74,11 +79,11 @@ The LivoxGen1Lidar DAP uses a unified stim-buff-api name `livoxGen1` with mode-b
 
 **Syntax**:
 ```
-+idev | avia0 | accel-stimiface | livoxGen1(mode=accel) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | accel | livoxGen1-accel(data-rate-hz=100) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values**:
-- `accel`
+**Stim-Buff-API**: `livoxGen1-accel`
+**Quale-Iface-API**: `accel` - Processes accelerometer linear acceleration data
 
 ## Provider Parameters
 
@@ -124,16 +129,26 @@ The `livoxProto1` provider accepts the following parameters:
 
 ## Parameter Summary
 
-### Mode/Stim/Affordance Parameter Values
+### Stim-Buff-API Names
 
-| Data Type | Mode Values | Description |
-|-----------|-------------|-------------|
-| Point Cloud Intensity | `pointCloudIntensity`, `pcloudIntensity`, `pCloudIntensity`, `pCloudI`, `pcloudI` | Light intensity/reflectivity data |
-| Point Cloud Coordinates | `pcloud`, `pCloud`, `pointCloud` | Spatial coordinate data |
-| Gyroscope | `gyro` | Angular velocity measurements |
-| Accelerometer | `accel` | Linear acceleration measurements |
+| Stim Feature | Stim-Buff-API | Quale-Iface-API | Description |
+|--------------|---------------|----------------|-------------|
+| Point Cloud Intensity | `livoxGen1-pcloudIntensity` | `pcloudIntensity` | Light intensity/reflectivity data |
+| Point Cloud Coordinates | `livoxGen1-pcloud` | `pcloud` | Spatial coordinate data |
+| Gyroscope | `livoxGen1-gyro` | `gyro` | Angular velocity measurements |
+| Accelerometer | `livoxGen1-accel` | `accel` | Linear acceleration measurements |
 
-### Format Parameter Values (for point cloud modes)
+### Stim-Buff-API Parameters
+
+Each stim-buff-api accepts device-specific parameters:
+
+| Parameter | Description | Example |
+|-----------|-------------|---------|
+| `data-rate-hz` | Data sampling rate in Hz | `data-rate-hz=10` |
+
+### Quale-Iface-API Parameters
+
+The `pcloud` quale-iface-api accepts format parameters:
 
 | Format | Description |
 |--------|-------------|