Abstract: A pharmaceutical product comprising a potassium channel activator antihypertensive agent and a .beta.-blocker antihypertensive agent as a combined preparation for simultaneous, separate or sequential use in therapy of hypertension.

Abstract: A means and method for control of an autonomous vehicle while working on a surface, specifically for operation of an automatic floor cleaning machine using power derived from line power through a wall plug and cord. The vehicle uses information derived from contact between bumpers and objects in the environment to sense the geometry of its environment and utilizes a recursively applied algorithm to systematically and efficiently cover the floor area.

Abstract: Apparatus for measuring cardiac and/or pulmonary activity, comprising an electrical oscillator, a pair of electrodes for applying the oscillating electrical signal to the thorax of a patient, an oesophageal probe including an oesophageal electrode, a sensing electrode adapted to be positioned on the chest of the patient in the region of the apex of the heart, whereby measurement of voltage between the said first and second electrodes provides a measure of cardiac volumes, a third electrode adapted to be positioned on the chest of the patient at a position on the right side of the chest generally corresponding with that of the second electrode of the left side of the chest, whereby measurement of voltage between the said first and third electrodes provides a measure of volume of the right lung of the patient, a device for measuring the voltage induced between the first and second, and the first and third electrodes respectively, and for thereby providing first and second output signals respectively, indicative

Abstract: A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of an object being illuminated.

Abstract: Compounds of formula (I) and pharmaceutically acceptable salts thereof: ##STR1## wherein: X, Y and R.sub.1 -R.sub.6 are as defined have blood pressure lowering activity and K+ channel activator activity and are useful in the treatment of hypertension.

Abstract: Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of ceiling lights. A mobile robot 10 includes a camera 12 that is pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more ceiling lights 16 which may be of rectangular shape and which are preferably aligned with an axis of the hallway. In that the lights present a pattern or alignment which is substantially parallel to or perpendicular to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.

Abstract: A vehicle has been provided with a first load carrying frame having freely rotatable supporting wheels attached thereto. A second frame in non-rotable and compliantly suspended from the first frame. A device is mounted to the second frame for driving and steering the vehicle.

Abstract: A compound of formula (I) or a pharmaceutically acceptable salt thereof: ##STR1## wherein all the symbols are defined in the specification; having pharmacological activity, including blood pressure lowering activity, a process and intermediates for their preparation and their use as pharmaceuticals.

Abstract: A vision system for a mobile robot 10 comprises an optical sensor subsystem 20 which generates a substantially one dimensional image of an environment, a signal processing subsystem 24 for extracting and enhancing significant vertical visual features from the one dimensional image and a feature processing system 26 which analyses rapidly and in real time the extracted features for use by a control system 28 for navigation of the robot. The optical sensor may be a line scan camera having a plurality of outputs which relate to brightness values received from the environment. Triangulation, optical flow and optical flow with log transforms methods are disclosed for processing the one dimensional image data to yield azimuth and/or distance to an object within the environment. Also disclosed is a binocular vision system which generates two, one dimensional images and a method of processing same.

Abstract: Hydrophilic contact lenses comprised of a copolymer of an hydroxyl group-containing monomer and N-vinylpyrrolidone are tinted by impregnating the lens with an aqueous solution of a dichlorotriazine reactive dye and fixing the dye in the lens by contacting the lens with an aqueous alkaline solution.

Abstract: A compound of formula (I) or a pharmaceutically acceptable salt thereof: ##STR1## wherein all the symbols are defined in the specification; having pharmacological activity, including blood pressure lowering activity, a process and intermediates for their preparation and their use as pharmaceuticals.

Abstract: Compounds of the formula ##STR1## as defined in the specification, and processes for their preparation and methods of using the compounds for the treatment of hypertension in mammals, such as humans and for the treatment and/or prophylaxis of cerebrovascular disorders and/or disorders associated with cerebral senility in mammals, such as humans.

Abstract: Compounds of formula (I) or when a compound of formula (I) contain a salifiable group, a pharmaceutically acceptable salt thereof: ##STR1## wherein: R.sub.1 -R.sub.7 and X are as defined, are useful as anti-hypertensive agents.

Abstract: A method for the treatment and/or prophylaxis of reversible airways obstruction and asthma in mammals, which method comprises administering to the mammal in need of said treatment an effective amount of a compound of formula (I): ##STR1## wherein R.sub.1 -R.sub.8 and X are as set forth herein.

Abstract: Compounds of formula (I) and pharmaceutically acceptable salts thereof: ##STR1## wherein: one of R.sub.1 and R.sub.2 is hydrogen or C.sub.1-4 alkyl and the other is C.sub.1-4 alkyl or R.sub.1 and R.sub.2 together are C.sub.2-5 -polymethylene;either R.sub.3 is hydrogen, hydroxy, C.sub.1-6 alkoxy or C.sub.1-7 acyloxy and R.sub.4 is hydrogen or R.sub.3 and R.sub.4 together are a bond;R.sub.5 is hydrogen C.sub.1-6 alkyl optionally substituted by halogen hydroxy, C.sub.1-6 alkoxy, C.sub.1-6 alkoxycarbonyl, carboxy or amino optionally substituted by one or two independent C.sub.1-6 alkyl groups, or C.sub.2-6 alkenyl, amino optionally substituted by a C.sub.1-6 alkyl or C.sub.1-6 alkenyl group or by a C.sub.1-6 alkanoyl group optionally substituted by up to three halo atoms, by a phenyl group optionally substituted by C.sub.1-6 alkyl, C.sub.1-6 alkoxy or halogen, or aryl or hetroaryl, either being optionally substituted by one or more groups or atoms selected from the class of C.sub.1-6 alkyl, C.sub.

Abstract: A method for the treatment and/or prophylaxis of congestive heart failure, angina, occlusive peripheral vascular disease or cerebral vascular disease in mammals, such as humans, which method comprises administering to the mammal in need of such treatment and/or prophylaxis an effective and/or prophylactic amount of a compound of formula (I): ##STR1## wherein R.sub.1, R.sub.2, R.sub.3, R.sub.4, R.sub.5, R.sub.6, R.sub.7, R.sub.8, and X are set forth in the specification herein.

Abstract: 2,2-Dimethyl-3,4-dihydro-2H-benzo[b]pyran-3-ols bearing an amino group in the 4-position and a cyano group in the benzo ring, their salts, esters and ethers, demonstrate excellent vasodilatory activity. The compounds, of which trans-2,2-dimethyl-4-isopropylamino-6-cyano-3,4-dihydro-2H-benzo[b]pyran-3 -ol is a representative embodiment, can be prepared from the corresponding 3,4-epoxy derivative upon treatment with an amine.

Abstract: Sensing means for speed and direction of movement of a body (10) movable in an ambient fluid in a direction transverse to the longitudinal axis (11). A central chamber (16) has a plurality of radial bores (15) extending to the outer surfaces (12) and opening at their outer ends to the ambient fluid so that as the body (10) moves, a pressure differential between the inner ends (18) and the outer ends (17) causes fluid flow in the passages (15). Flow sensing means comprises a sound source and sound receivers (21) associated with respective bores (15) is provided to determine the phase shift caused by the fluid flow in each bore and hence determine the direction and speed of fluid flow. Processing means (32) determines the speed and direction of movement of body (10).

Abstract: A pressure sensing device for a body movable in a fluid in a direction transverse to the longitudinal axis of the body. A chamber is provided within the body and a plurality of bores extend radially from the chamber to outer ends opening to ambient fluid so that, as the body moves, any pressure differential between the outer end and inner end causes fluid flow in the bore. Each bore is a flow restricting device such as a valve or fluidic diode, and operable to restrict outward flow from the inner end to the outward end more than inward flow thus causing the pressure in the chamber to be higher than the average pressure at the outer ends. A fluid pressure measuring device is provided in the chamber.

Abstract: Apparatus for the in-vivo measurement of blood oxygen levels in a patient, includingan elongate probe adapted to pass into the oesophagus of the patient,a fibre optic light channel for illuminating the internal surface of the oesophagusa photosensor for monitoring light reflected from the internal surface of the oesophagusand a signal processor for determining from the reflected light signal the degree of oxygenation of blood in the internal surface of the oesophagus.A single optical fibre light channel may be utilized both to conduct light into the probe to illuminate the internal surface of the oesophagus, and to conduct light reflected from the internal surface of the oesophagus to the exterior of the patient.