Abstract: The invention provides a compound of formula (0): or a pharmaceutically acceptable salt, N-oxide or tautomer thereof; wherein: n is 1 or 2; X is CH or N; Y is selected from CH and C—F; Z is selected from C—Rz and N; R1 is selected from: -(Alk1)t-Cyc1; wherein t is 0 or 1; Optionally substituted C1-6 acyclic hydrocarbon groups R2 is selected from hydrogen; halogen; and C1-3 hydrocarbon groups optionally substituted with one or more fluorine atoms; R3 is hydrogen or a group L1-R7; R4 is selected from hydrogen; methoxy; and optionally substituted C1-3 alkyl; and R4a is selected from hydrogen and a C1-3 alkyl group; wherein Rz, Alk1, Cyc1, L1 and R7 are defined herein; provided that the compound is other than 6-benzyl-3-{2-[(2-methylpyrimidin-4-yl)amino]pyridin-4-yl}-7,8-dihydro-1,6-naphthyridin-5(6H)-one and 3-{2-[(2-methylpyrimidin-4-yl)amino]pyridin-4-yl}-7,8-dihydro-1,6-naphthyridin-5(6H)-one and salts and tautomers thereof.

Abstract: A method for training a backpropagation-enabled segmentation process is used for identifying an occurrence of a sub-surface feature. A multi-dimensional seismic data set with an input dimension of at least two is inputted into a backpropagation-enabled process. A prediction of the occurrence of the subsurface feature has a prediction dimension of at least 1 and is at least 1 dimension less than the input dimension.

Abstract: A method for improving a backpropagation-enabled process for identifying subsurface features from seismic data involves a model that has been trained with an initial set of training data. A target data set is used to compute a set of initial inferences on the target data set that are combined with the initial training data to define updated training data. The model is trained with the updated training data. Updated inferences on the target data set are then computed. A set of further-updated training data is defined by combining at least a portion of the initial set of training data and at least a portion of the target data and associated updated inferences. The set of further-updated training data is used to train the model. Further-updated inferences on the target data set are then computed and used to identify the occurrence of a user-selected subsurface feature in the target data set.

Abstract: A method for training a backpropagation-enabled regression process is used for predicting values of an attribute of subsurface data. A multi-dimensional seismic data set with an input dimension of at least two is inputted into a backpropagation-enabled process. A predicted value of the attribute has a prediction dimension of at least 1 and is at least 1 dimension less than the input dimension.

Abstract: A method for subcutaneously treating pain in a patient includes first providing a neurostimulator with an IPG body and at least a primary, a secondary, and a tertiary integral lead with electrodes disposed thereon. A primary incision is opened to expose the subcutaneous region below the dermis in a selected portion of the body. A pocket is then opened for the IPG through the primary incision and the integral leads are inserted through the primary incision and routed subcutaneously to desired nerve regions along desired paths. The IPG is disposed in the pocket through the primary incision. The primary incision is then closed and the IPG and the electrodes activated to provide localized stimulation to the desired nerve regions and at least three of the nerves associated therewith to achieve a desired pain reduction response from the patient.

Abstract: A method for subcutaneously treating pain in a patient includes first providing a neurostimulator with an IPG body and at least a primary, a secondary, and a tertiary integral lead with electrodes disposed thereon. A primary incision is opened to expose the subcutaneous region below the dermis in a selected portion of the body. A pocket is then opened for the IPG through the primary incision and the integral leads are inserted through the primary incision and routed subcutaneously to desired nerve regions along desired paths. The IPG is disposed in the pocket through the primary incision. The primary incision is then closed and the IPG and the electrodes activated to provide localized stimulation to the desired nerve regions and at least three of the nerves associated therewith to achieve a desired pain reduction response from the patient.

Abstract: A method for a method for identifying a subsurface pore-filling fluid and/or lithology. A training set of field-acquired geophysical data and/or simulated geophysical data is provided to train a backpropagation-enabled process. The trained process is used on a field-acquired data set that is not part of the training set to infer presence of a subsurface pore-filling fluid and/or lithology.

Abstract: User-initiated break-away clutching includes a robotic system having a joint, a brake or drive unit coupled to the joint, and a control system coupled with the brake or drive unit. The control system is configured to determine a first manual effort applied to the joint; inhibit, using the brake or drive unit, manual articulation of the joint in response to the first manual effort being below an articulation threshold; facilitate, using the brake or drive unit, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and inhibit, using the brake or drive unit, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

Abstract: A diaphragm valve is provided, and includes a diaphragm moveable over a range from a first position to a second position, to open and close an outlet. A control bleed hole extends from a first side of the diaphragm to a second side, opposite the first side. A closing member is moveable to open and close the control bleed hole, to modify the pressure on either side of the diaphragm, and to cause the movement the diaphragm over at least part of the range. A mechanical means is arranged to move the closing member to open and close the control bleed hole. The mechanical means is configured to engage the diaphragm and cause movement of the diaphragm over at least part of the range.

Abstract: Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.

Abstract: A system is provided for driving an implantable neurostimulator lead, the lead having an associated plurality of electrodes disposed in at least one array on the lead. The system comprises an implantable pulse generator (IPG), the IPG including an electrode driver, a load system for determining load requirements, an IPG power coupler, and an IPG communication system. The system also includes an external unit, which includes an external variable power generator, an external power coupler, an external communication system, and a controller for varying the power level of the variable power generator.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.

Abstract: A system is provided for driving an implantable neurostimulator lead, the lead having an associated plurality of electrodes disposed in at least one array on the lead. The system comprises an implantable pulse generator (IPG), the IPG including an electrode driver, a load system for determining load requirements, an IPG power coupler, and an IPG communication system. The system also includes an external unit, which includes an external variable power generator, an external power coupler, an external communication system, and a controller for varying the power level of the variable power generator.

Abstract: A method for improving a backpropagation-enabled process for identifying subsurface features from seismic data involves a model that has been trained with an initial set of training data. A target data set is used to compute a set of initial inferences on the target data set that are combined with the initial training data to define updated training data. The model is trained with the updated training data. Updated inferences on the target data set are then computed. A set of further-updated training data is defined by combining at least a portion of the initial set of training data and at least a portion of the target data and associated updated inferences. The set of further-updated training data is used to train the model. Further-updated inferences on the target data set are then computed and used to identify the occurrence of a user-selected subsurface feature in the target data set.

Abstract: A method for training a backpropagation-enabled regression process is used for predicting values of an attribute of subsurface data. A multi-dimensional seismic data set with an input dimension of at least two is inputted into a backpropagation-enabled process. A predicted value of the attribute has a prediction dimension of at least 1 and is at least 1 dimension less than the input dimension.

Abstract: A method for training a backpropagation-enabled segmentation process is used for identifying an occurrence of a sub-surface feature. A multi-dimensional seismic data set with an input dimension of at least two is inputted into a backpropagation-enabled process. A prediction of the occurrence of the subsurface feature has a prediction dimension of at least 1 and is at least 1 dimension less than the input dimension.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.

Abstract: A method for producing a synthetic model for training a backpropagation-enabled process for identifying subsurface features, includes generating synthetic subsurface models with realizations of subsurface features. The synthetic subsurface models are generated by introducing at least three distinct model variations selected from geologically realistic features simulating the outcome of a geologic process, simulations of geologic processes, simulations of noise sources, and combinations thereof. Labels are applied to one or more of the subsurface features in one or more of the synthetic subsurface models. The labels and the corresponding synthetic subsurface models are imported into the backpropagation-enabled process for training.

Abstract: A method for producing a synthetic model for training a backpropagation-enabled process for identifying subsurface features, includes generating noise-free synthetic subsurface models with realizations of subsurface features. The noise-free synthetic subsurface models are generated by introducing a model variation selected from geologically realistic features simulating the outcome of a geologic process, simulations of geologic processes, and combinations thereof. Labels are applied to one or more of the subsurface features in one or more of the synthetic subsurface models. A simulation of a noise source is applied to a copy of one or more of the noise-free synthetic subsurface models to produce a noise-augmented copy. The labels and the corresponding synthetic subsurface models are imported into the backpropagation-enabled process for training.

Abstract: A method for subcutaneously treating pain in a patient includes first providing a neurostimulator with an IPG body and at least a primary, a secondary, and a tertiary integral lead with electrodes disposed thereon. A primary incision is opened to expose the subcutaneous region below the dermis in a selected portion of the body. A pocket is then opened for the IPG through the primary incision and the integral leads are inserted through the primary incision and routed subcutaneously to desired nerve regions along desired paths. The IPG is disposed in the pocket through the primary incision. The primary incision is then closed and the IPG and the electrodes activated to provide localized stimulation to the desired nerve regions and at least three of the nerves associated therewith to achieve a desired pain reduction response from the patient.