1. A compound of formula II:
or its geometric isomers, enantiomers, diastereomers, racemates, pharmaceutically acceptable salts, prodrugs and solvates thereof, wherein:
Ra, Rb, Rc are each independently selected from:
(i) hydrogen;
(ii) aryl; substituted aryl; heteroaryl; substituted heteroaryl;
(iii) heterocyclic or substituted heterocyclic; and
(iv) \u2014C1-C8 alkyl, \u2014C2-C8 alkenyl, or \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 heteroatoms selected from O, S, or N; substituted \u2014C1-C8 alkyl, substituted \u2014C2-C8 alkenyl, or substituted \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 heteroatoms selected from O, S or N; \u2014C3-C12 cycloalkyl, or substituted \u2014C3-C12 cycloalkyl; \u2014C3-C12 cycloalkenyl, or substituted \u2014C3-C12 cycloalkenyl;
alternatively, Rb and Rc are taken together to form a heterocyclic or substituted heterocyclic;
Q is absent or selected from (C\u2550O), (SO2), (C\u2550NH), (C\u2550S), or (CONRa);
W is O, S, NORa or NRa;
R3 is independently selected from the group consisting of:
(i) hydrogen;
(ii) aryl; substituted aryl; heteroaryl; substituted heteroaryl;
(iii) heterocyclic or substituted heterocyclic; and
(iv) \u2014C1-C8 alkyl, \u2014C2-C8 alkenyl, or \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 or more heteroatoms selected from O, S, or N; substituted \u2014C1-C8 alkyl, substituted \u2014C2-C8 alkenyl, or substituted \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 or more heteroatoms selected from O, S or N; \u2014C3-C12 cycloalkyl, or substituted \u2014C3-C12 cycloalkyl; \u2014C3-C12 cycloalkenyl, or substituted \u2014C3-C12 cycloalkenyl;
R4 is hydrogen, ORa, or NRb-Q1-Rc, where Q1 is absent or selected from (C\u2550O) or (SO2);
R5 is (C\u2550W)NRbRc;
Y is hydrogen, lower alkyl, or lower alkoxy;
V1 is C\u2550O, C1-C6 alkylene, or substituted alkylene; V2 is absent, alkylene, substituted alkylene, or C\u2550O; V3 is absent; V4 is absent;
n is 1, 2, 3 or 4; wherein each repeating unit can be the same or different;
Z is (C\u2550W)OH or C(O)NHOH;
alternatively,
can be selected from natural amino acids; and
denotes a carbon-carbon single or double bond.
2. A compound of Formula V:
or a pharmaceutically acceptable salt, ester or prodrug thereof, alone or in combination with a pharmaceutically acceptable carrier or excipient, where A1 is absent, C1-C6 alkylene, substituted alkylene, C2-C6 alkenylene, C2-C6 alkynylene; A2 hydrogen, NRbRc, (C\u2550W)NRbRc, NRa(C\u2550W)NRbRc, (C\u2550W)OH, heteroaryl or substituted heteroaryl;
Ra, Rb, Rc are each independently selected from:
(i) hydrogen;
(ii) aryl; substituted aryl; heteroaryl; substituted heteroaryl;
(iii) heterocyclic or substituted heterocyclic; and
(iv) \u2014C1-C8 alkyl, \u2014C2-C8 alkenyl, or \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 heteroatoms selected from O, S, or N; substituted \u2014C1-C8 alkyl, substituted \u2014C2-C8 alkenyl, or substituted \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 heteroatoms selected from O, S or N; \u2014C3-C12 cycloalkyl, or substituted \u2014C3-C12 cycloalkyl; \u2014C3-C12 cycloalkenyl, or substituted \u2014C3-C12 cycloalkenyl;
alternatively, Rb and Rc are taken together to form a heterocyclic or substituted heterocyclic;
R3 is independently selected from the group consisting of:
(i) hydrogen;
(ii) aryl; substituted aryl; heteroaryl; substituted heteroaryl;
(iii) heterocyclic or substituted heterocyclic; and
(iv) \u2014C1-C8 alkyl, \u2014C2-C8 alkenyl, or \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 or more heteroatoms selected from O, S, or N; substituted \u2014C1-C8 alkyl, substituted \u2014C2-C8 alkenyl, or substituted \u2014C2-C8 alkynyl each containing 0, 1, 2, or 3 or more heteroatoms selected from O, S or N; \u2014C3-C12 cycloalkyl, or substituted \u2014C3-C12 cycloalkyl; \u2014C3-C12 cycloalkenyl, or substituted \u2014C3-C12 cycloalkenyl;
Y is hydrogen, lower alkyl, or lower alkoxy;
V1 is C\u2550O, SO2, C1-C6 alkylene, substituted alkylene, C2-C6 alkenylene, C2-C6 alkynylene; V3 is absent, alkylene, substituted alkylene, C2-C6 alkenylene, C2-C6 alkynylene; heterocyclic, heteroaryl, aryl or C\u2550O; V4 is absent, alkylene, substituted alkylene, C2-C6 alkenylene, C2-C6 alkynylene; heterocyclic, heteroaryl, aryl or C\u2550O;
n is 1, 2, 3 or 4; wherein each repeating unit can be the same or different;
Z is hydrogen, NRbRc, (C\u2550W)NRbRc, NRa(C\u2550W)NRbRc, (C\u2550W)OH, C(O)NHOH, heteroaryl, or substituted heteroaryl.
3. The compound of claim 2, wherein the compound is of Formula VI:
or a pharmaceutically acceptable salt, ester or prodrug thereof, alone or in combination with a pharmaceutically acceptable carrier or excipient, wherein R30 is hydrogen, lower alkyl, lower alkenyl, lower alkynyl, C3-C6 cycloalkyl, C3-C6 cycloalkenyl, heterocyclic or substituted heterocyclic; where A1 is absent, C1-C6 alkylene, substituted alkylene, C2-C6 alkenylene, C2-C6 alkynylene; A2 hydrogen, NRbRc, (C\u2550W)NRbRc, NRa(C\u2550W)NRbRc, (C\u2550W)OH, heteroaryl or substituted heteroaryl; and n, R3, V1, V3, V4, W, Ra, Rb, Rc and Z are as defined in claim 2.
4. A compound of Formula VII:
or a pharmaceutically acceptable salt, ester or prodrug thereof, alone or in combination with a pharmaceutically acceptable carrier or excipient, wherein X\u2212 is counterion selected from the group consisting of halide, sulfate, phosphate, nitrate, and anionic-charged organic species; R30 and R31 are independently hydrogen, lower alkyl, lower alkenyl, lower alkynyl, C3-C6 cycloalkyl, C3-C6 cycloalkenyl, heterocyclic or substituted heterocyclic; where A1 is absent, C1-C6 alkylene, substituted alkylene, C2-C6 alkenylene, C2-C6 alkynylene; A2 hydrogen, NRbRc, (C\u2550W)NRbRc, NRa(C\u2550W)NRbRc, (C\u2550W)OH, heteroaryl or substituted heteroaryl; and n, R3, V1, V3, V4, W, Ra, Rb, Rc and Z are as defined in claim 2.
5. A compound selected from compounds in Table A, or a pharmaceutically acceptable salt, ester or prodrug thereof, alone or in combination with a pharmaceutically acceptable carrier or excipient:
TABLE A
Compound
No.
Structure
1
2
3
4
5
6
7
8
9
10
11
12
13
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A sensing device for enabling joystick control of software or hardware, in at least one rotational direction, the sensing device being configured to interact with a printed surface having text andor graphics and coded data printed thereon, the coded data being indicative of a plurality of reference points of the printed surface, the sensing device including:
a sensor for sensing at least some of the coded data as the sensing device is used to interact with at least some of the text andor graphics on the printed surface;
processing means for processing at least some of the sensed coded data to generate indicating data, the indicating data being indicative of: at least one dimension of rotational orientation of the sensing device relative to the printed surface; and a position of the sensing device relative to the surface;
a transmitter for transmitting the indicating data, the indicating data being useable to enable the control of the software or hardware.
2. The sensing device of claim 1, wherein the rotational orientation includes at least a roll of the sensing device relative to the printed surface.
3. The sensing device of claim 2, configured to determine the dimension of rotational orientation by determining a rotational position of at least some of the sensed coded data in a frame of image data captured by the sensor.
4. The sensing device of claim 1, wherein the rotational orientation includes at least one of yaw and pitch of the sensing device relative to the surface.
5. The sensing device of claim 4, configured to determine the dimension of the at least one of yaw and pitch by determining a perspective distortion of at least some of the sensed coded in a frame of image data captured by the sensor.
6. The sensing device of claim 5, wherein the coded data includes periodic elements, and the sensing device is configured to determine the at least one of yaw and pitch by determining the perspective distortion based on the relative positions of at least some of the periodic elements in the frame of image data.
7. The sensing device according to claim 1, wherein the coded data is substantially invisible.
8. The sensing device according to claim 7, wherein the text andor graphics includes an icon that indicates, to a human, that interacting with the icon with the sensing device will cause the sensing device to be used as a controller.
9. The sensing device of claim 1, further including a memory for storing an identity of the sensing device, the indicating data including the identity, thereby enabling identification of the sensing device from which the indicating data was transmitted.