All The Claims

1. A method for measuring jitter in a digital input signal, the method comprising:
producing a digital reference signal having a predetermined frequency offset from that of said digital input signal;
detecting a first occurrence of a predetermined phase relationship between said digital input signal and said digital reference signal;
detecting subsequent occurrence of said predetermined phase relationship between said digital input signal and said digital reference signal; and
determining the time difference between said first occurrence and said subsequent occurrence, to determine a measurement of jitter present in said digital input signal.
2. The method of claim 1 wherein the step of producing said digital reference signal comprises:
measuring the frequency of said digital input signal to produce a frequency measurement; and
using the frequency measurement to produce said digital reference signal having a frequency which is offset therefrom by a predetermined amount.
3. The method of claim 1 wherein the step of detecting a first occurrence of a predetermined phase relationship between said digital input signal and said digital reference signal and the step of detecting subsequent occurrence of said predetermined phase relationship between said digital input signal and said digital reference signal comprise detecting coincidence of similar edges of said digital input signal and said digital reference signal.
4. The method of claim 1 wherein the step of detecting subsequent occurrence of said predetermined phase relationship between said digital input signal and said digital reference signal comprises:
detecting over a plurality of said subsequent occurrences a maximum time difference value and a minimum time difference value; and
determining from said maximum time difference value and said minimum time difference value a total peak-to-peak jitter measurement.
5. The method of claim 4 wherein said predetermined frequency offset is varied between test cycles to facilitate detection of fixed frequency jitter based on a frequency that would beat with a fixed frequency offset.
6. The method of claim 1 further comprising pre-scaling the digital input signal to increase the resolution of jitter measurement.
7. An apparatus for measuring jitter in a digital input signal, the apparatus comprising:
a receiving arrangement for receiving a digital input signal;
a reference signal arrangement for producing a digital reference signal having a predetermined frequency offset from that of said digital input signal;
a phase detecting arrangement for detecting a first occurrence of a predetermined phase relationship between said digital input signal and said digital reference signal and subsequent occurrence of said predetermined phase relationship between said digital input signal and said digital reference signal; and
a determining arrangement for determining the time difference between said first occurrence and said subsequent occurrence, to determine a measurement of jitter present in said digital input signal.
8. The apparatus of claim 7 wherein said reference signal arrangement comprises:
a measuring arrangement for measuring the frequency of said digital input signal to produce a frequency measurement; and
a signal producing arrangement for producing from said frequency measurement said digital reference signal having a frequency which is offset therefrom by a predetermined amount.
9. The apparatus of claim 8 wherein said measuring arrangement comprises a frequency counter.
10. The apparatus of claim 8 wherein said signal producing arrangement comprises a programmable oscillator.
11. The apparatus of claim 7 wherein said phase detecting arrangement comprises an edge detecting arrangement for detecting coincidence of similar edges of said digital input signal and said digital reference signal.
12. The apparatus of claim 7 wherein said phase detecting arrangement comprises:
a minimummaximum detecting arrangement for detecting over a plurality of said subsequent occurrences a maximum time difference value and a minimum time difference value; and
a jitter determining arrangement for determining from said maximum time difference value and said minimum time difference value a total peak-to-peak jitter measurement.
13. The apparatus of claim 12 wherein said minimummaximum detecting arrangement comprises:
a counter arrangement driven by said reference signal;
a maximum register arrangement for holding a value in said counter arrangement when said phase detecting arrangement detects a said second occurrence;
a maximum comparator arrangement for comparing a value in said maximum register arrangement with a value in said counter arrangement when said phase detecting arrangement detects a said subsequent occurrence and if said counter arrangement value is greater than said maximum register arrangement value storing said counter arrangement value in said maximum register arrangement;
a minimum register arrangement for holding a value in said counter arrangement when said phase detecting arrangement detects a said subsequent occurrence; and
a minimum comparator arrangement for comparing a value in said minimum register arrangement with a value in said counter arrangement when said phase detecting arrangement detects a said second occurrence and if said counter arrangement value is less than said minimum register arrangement value storing said counter arrangement value in said minimum register arrangement.
14. The apparatus of claim 7 wherein the apparatus is substantially comprised in a field programmable gate array.
15. The apparatus of claim 7 wherein the apparatus is arranged to sense jitter in a telecommunications pulse code modulation (PCM) signal.
16. The apparatus of claim 7 wherein said predetermined frequency offset is varied between test cycles to facilitate detection of fixed frequency jitter based on a frequency that would beat with a fixed frequency offset.
17. The apparatus of claim 7 further comprising a pre-scaling arrangement for pre-scaling the received digital input signal to increase the resolution of jitter measurement.

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 billiard table ball pick-up box, comprising a bottom bracket (7) and a side cover located above the bottom bracket (7), wherein the side cover comprises a cover plate (1), a left side plate (2) and a right side plate (3) located on both sides of the cover plate, and a scoreboard (4) located on the top of the cover plate, characterized in that the left side plate (2), the right side plate (3) and the scoreboard (4) are all hinged with the cover plate (1), wherein a cover body is formed integrally when the left side plate, the right side plate and the scoreboard are curved together with the cover plate respectively along the hinge point in the same direction.
2. The billiard table ball pick-up box according to claim 1, characterized in that a mounting plate (5) is arranged on the left side plate (2) and the right side plate (3), wherein mounting holes are arranged on the mounting plate.
3. The billiard table ball pick-up box according to claim 2, characterized in that the left side plate (2) and the right side plate (3) are provided with a lug (6) for positioning.
4. The billiard table ball pick-up box according to claim 3, characterized in that the edge connecting the left side plate (2), the right side plate (3) and the cover plate (1) is curved, wherein the cover plate is bent into an arc elastically along the curved edge.
5. A billiard table ball pick-up box, comprising a bottom bracket (7) and a side cover located above the bottom bracket (7), wherein the side cover comprises a cover plate (1), a left side plate (2) and a right side plate (3) located on both sides of the cover plate, and a scoreboard (4) located on the top of the cover plate, characterized in that one side of the left side plate (2) and the right side plate (3) is spliced with both sides of the cover plate (1) respectively, wherein the included angle between the left side plate, the right side plate and the cover plate is 80-120\xb0 respectively, and the scoreboard is hinged with the cover plate.
6. The billiard table ball pick-up box according to claim 5, characterized in that one or more connection holes (8) are arranged on the edge of both sides of the cover plate (1) and a convex structure (9) engaging with the connection holes is arranged on the edge connecting the left side plate (2), the right side plate (3) and the cover plate, wherein the left side plate and the right side plate are fixed on the cover plate by inserting the connection holes via the convex structure.
7. The billiard table ball pick-up box according to claim 6, characterized in that the edge connecting the left side plate (2), the right side plate (3) and the cover plate (1) is curved, wherein the cover plate is bent into an arc elastically along the curved edge.
8. The billiard table ball pick-up box according to claim 7, characterized in that a mounting plate (5) is arranged on the left side plate (2) and the right side plate (3), wherein mounting holes are arranged on the mounting plate.
9. The billiard table ball pick-up box according to claim 8, characterized in that the left side plate (2) and the right side plate (3) are provided with a lug (6) for positioning.
10. The billiard table ball pick-up box according to claim 5, characterized in that one or more cylindrical mounting holes (10) are arranged on both sides of the cover plate (1) in the side direction and a connection column (11) engaging with the cylindrical mounting holes is arranged on the edge connecting the left side plate (2), the right side plate (3) and the cover plate, wherein the left side plate and the right side plate are fixed on the cover plate by inserting the cylindrical mounting holes via the connection column.
11. The billiard table ball pick-up box according to claim 10, characterized in that the edge connecting the left side plate (2), the right side plate (3) and the cover plate (1) is curved, wherein the cover plate is bent into an arc elastically along the curved edge.
12. The billiard table ball pick-up box according to claim 11, characterized in that a mounting plate (5) is arranged on the left side plate (2) and the right side plate (3), wherein mounting holes (51) are arranged on the mounting plate.
13. The billiard table ball pick-up box according to claim 12, characterized in that the left side plate (2) and the right side plate (3) are provided with a lug (6) for positioning.

1. A robotics platform comprising:
a processor;
a memory containing a whole body motion application;
a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators;
at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators;
a tracked base;
a connecting structure that connects the at least one limb to the spine;
a second connecting structure that connects the spine to the tracked base;
wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.
2. A robotics platform of claim 1, further comprising a head, where the head comprises at least one sensor; and a third connecting structure connecting the head to the spine.
3. A robotics platform of claim 2, wherein in the at least one sensor is a light detection and ranging (LiDAR) system.
4. A robotics platform of claim 2, wherein the at least one sensor is a pair of stereo cameras.
5. A robotics platform of claim 1, wherein the three spine elbow joints have the same dimensions and construction.
6. A robotics platform of claim 1, wherein the three limb elbow joints have the same dimensions and construction.
7. A robotics platform of claim 1, wherein the three spine elbow joints and the three limb elbow joints have the same dimensions and construction.
8. A robotics platform of claim 1, wherein the at least one limb further comprises an end-effector.
9. A robotics platform of claim 8, wherein the end-effector is a hand assembly including a plurality of articulated fingers.
10. A robotics platform of claim 1, wherein the at least one limb further comprises a first limb and a second limb.
11. A robotics platform of claim 10, wherein the first limb further comprises a first end-effector and the second limb further comprises a second end-effector.
12. A robotics platform of claim 11, wherein a kinematic chain for the robotics platform can be evaluated by the processor using the following expression:
min \u2225{dot over (\u03b8)}\u22252,P\u03b8+\u2225VWEB\u2212{tilde over (V)}WEB\u22252,PE+\u2225VWCB\u2212{tilde over (V)}WCB\u22252,PC

where {dot over (\u03b8)} are joint angle velocities, VWEB is a base body velocity of the end-effector frame (E) in a world frame W, VWCB is a center of mass body velocity expressed in a base frame, PE is a weighting matrix of the end-effector, and P\u03b8 is a weighting matrix of a regularizer.
13. A robotics platform of claim 12, wherein the kinematic chain is subject to joint velocity, torque, and center of support constraints.
14. A robotics platform of claim 1 wherein performing whole body motion further comprises end-effector solving and path planning solving.

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 compound according to Formula I
or a pharmaceutically acceptable salt thereof, wherein
Y\u2014X is CH2\u2014CH2, \u2014C(O)O\u2014 or \u2014CH2O\u2014
R2 is phenyl, (1-6C)alkyl, (2-8C)-heteroaryl, benzoyl, (2-8C)heteroarylcarbonyl, (1-8C)alkoxy, (3-6C)cycloalkyl, (3-6C)cycloalkoxy, all alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10 and the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R12, or
R2 is (2-6C)alkenyl, (2-6C)alkynyl, (1-6C)alkylcarbonyl, (2-6C)alkenylcarbonyl, (2-6C)alkynylcarbonyl, (3-6C)cycloalkylcarbonyl, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, phenyl(1-4C)alkoxy or (2-8C)heteroaryl(1-4C)alkoxy;
R6 is hydroxy or H, or
R6 is (1-6C)alkyl, (2-6C)alkenyl, (2-6C)alkynyl, (1-4C)alkoxy, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, (3-6C)cycloalkoxy, (3-6C)heterocycloalkyl(1-4C)alkoxy, halogen, cyano, the alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10, or
R6 together with R7 is \u2014O\u2014(CH2)n\u2014O\u2014 in which n is 1-3 and in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents, or
R6 and R7 may be joined in a (3-6C)cycloalkyl ring;
R7 is hydroxy, H, or
R7 is (1-6C)alkyl, (2-6C)alkenyl, (2-6C)alkynyl, (1-4C)alkoxy, (3-6C)alkenoxy, (3-6C)cycloalkyl, (3-6C)cycloalkyl(1-4C)alkoxy, (3-6C)cycloalkoxy, (3-6C)heterocycloalkyl(1-4C)alkoxy, (3-6C)heterocycloalkoxy, (2-6C)heterocycloalkylcarbonyl, (di)1-4Calkylaminocarbonyl or (2-6C)heterocycloalkyl, the alkyl, alkoxy or (hetero)cycloalkyl moieties of which may optionally be substituted with one or more substituents selected from R11, or
R7 is (2-8C)heteroaryl, phenyl, phenyl(1-4C)alkoxy, (2-8C)heteroaryl(1-4C)alkoxy, the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R11, or
R7 together with R6 is \u2014O\u2014(CH2)n\u2014O\u2014 in which n is 1-3 and in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents or
R7 and R6 may be joined in a (3-6C)cycloalkyl ring;
R8 is H or (1-4C)alkoxy;
R10 is hydroxy, amino, halogen, cyano, nitro, trifluoromethyl, (1-4C)alkoxy, (1-4C)alkyl, aminocarbonyl or (di)1-4Calkylamino;
R11 is hydroxy, amino, halogen, cyano, nitro, trifluoromethyl, (1-4C)alkoxy, (di)1-4C)alkylamino or (1-4C)alkyl;
R12 is hydroxy, amino, halogen, cyano, nitro, trifluoromethyl, (1-4C)alkoxy, (1-4C)alkyl, aminocarbonyl or (di)1-4Calkylamino;
R13 is H or (1-3C)alkyl;
R14 and R15 are independently H or (1-3C)alkyl, or
R14 and R15 may be joined in a (3-6C)cycloalkyl ring.
2. The compound according to claim 1 wherein
R2 is phenyl, (1-6C)alkyl, (2-8C)-heteroaryl, (1-8C)alkoxy, (3-6C)cycloalkoxy, all alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10 and the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R12, or
R2 is (2-6C)alkenyl, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, phenyl(1-4C)alkoxy or (2-8C)heteroaryl(1-4C)alkoxy;
3. The compound according to claim 2 wherein R13, R14 and R15 is H.
4. The compound according to claim 3 wherein n, if R6 is combined with R7 is 1.
5. The compound according to claim 4 wherein R2 is phenyl, (1-6C)alkyl, (2-8C)-heteroaryl, (1-8C)alkoxy, (3-6C)cycloalkoxy, all alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10 and the phenyl or heteroaryl moieties of which may optionally be substituted with one or more substituents selected from R12, or
R2 is (2-6C)alkenyl, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy or phenyl(1-4C)alkoxy.
6. The compound according to claim 3 wherein
R6 is hydroxy, halogen, cyano or H, or
R6 is (1-4C)alkoxy, (3-6C)alkenoxy, the alkyl or alkoxy moieties of which may optionally be substituted with one or more substituents selected from R10, or
R6 together with R7 is \u2014O\u2014(CH2)\u2014O\u2014 in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents;
R7 is hydroxy, or
R7 is (1-4C)alkoxy, (3-6C)alkenoxy, (3-6C)cycloalkyl(1-4C)alkoxy, (2-6C)heterocycloalkylcarbonyl, (di)1-4Calkylaminocarbonyl or (2-6C)heterocycloalkyl, the alkyl, alkoxy or (hetero)cycloalkyl moieties of which may optionally be substituted with one or more substituents selected from R11, or
R7 is (2-8C)heteroaryl, or
R7 together with R6 is \u2014O\u2014(CH2)\u2014O\u2014 in which the CH2 moiety may optionally be substituted by one or more (1-3C)alkyl substituents.
7. The compound according to claim 4 wherein
R6 and R7 are independently (1-4C)alkoxy or (3-6C)alkenoxy, or
R6 together with R7 is \u2014O\u2014CH2\u2014O\u2014.
8. The compound according to claim 1 selected from the group of
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-phenyl-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2,3-difluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-(thiophen-2-yl)-9,10-dihydrophenanthrene-3-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-(3-methylthiophen-2-yl)-9,10-dihydrophenanthrene-3-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7,8-trimethoxy-2-(2-methoxypyridin-3-yl)-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-2-isopropoxy-6,7,8-trimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(cyclopropylmethoxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(cyclopentyloxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(pentan-2-yloxy)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(difluoromethoxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(1-cyanoethoxy)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(allyloxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-amino-1-fluoro-2-oxoethoxy)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(2-methoxyethoxy)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(benzyloxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(2-(dimethylamino)ethoxy)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(2,6-difluoro-4-hydroxyphenyl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(4-amino-2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(3-fluoropyridin-4-yl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(3-methylbut-2-en-2-yl)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(5-chlorothiophen-2-yl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(furan-2-yl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-2-(3-methoxyphenyl)-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(3-carbamoylphenyl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-2-(4-(dimethylamino)phenyl)-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6,7-dimethoxy-9,10-dihydrophenanthrene-3-carboxamide;
7-(allyloxy)-2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
6-(allyloxy)-2-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-7-hydroxy-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-6-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
2-(2-fluorophenyl)-6-hydroxy-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-6-bromo-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-2-isopropoxy-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)-6-cyano-N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-2-isopropoxy-7-methoxy-9,10-dihydrophenanthrene-3-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-3-isopropoxy-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-3-isopropoxy-8,9-(1\u2032,3\u2032-dioxolo)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
3-(2,3-difluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
3-(3,5-dimethyl-1H-pyrazol-4-yl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-3-(3-methylthiophen-2-yl)-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-3-phenyl-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-dimethoxy-3-(2-methylprop-1-enyl)-6H-benzocchromene-2-carboxamide;
(R)\u2014N-(1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-3-isobutyl-8,9-dimethoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8-isopropoxy-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-8-hydroxy-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(2-methoxyethoxy)-6H-benzocchromene-2-carboxamide;
8-(allyloxy)-3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8-(2-hydroxyethoxy)-9-methoxy-6H-benzocchromene-2-carboxamide;
8-(2-(dimethylamino)ethoxy)-3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
8-(cyclopropylmethoxy)-3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(pyridin-3-yl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(1-methyl-1H-pyrazol-4-yl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-9-methoxy-8-(pyridin-4-yl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8-(morpholine-4-carbonyl)-6H-benzocchromene-2-carboxamide;
3-(2-fluorophenyl)-N2-((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-N8,N8-dimethyl-6H-benzocchromene-2,8-dicarboxamide;
3-(2-fluorophenyl)-N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-(1\u2032,3\u2032-dioxolo)-6H-benzocchromene-2-carboxamide;
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-(1\u2032,3\u2032-dioxolo)-3-(3-methylthiophen-2-yl)-6H-benzocchromene-2-carboxamide; and
N\u2014((R)-1-hydroxy-3-(1H-indol-3-yl)propan-2-yl)-8,9-(1\u2032,3\u2032-dioxolo)-3-(3-isopropoxy)-6-oxo-6H-benzocchromene-2-carboxamide.
9. (canceled)
10. (canceled)
11. A pharmaceutical composition which comprises a compound of formula I according to any of claims 1 or a pharmaceutically acceptable salt thereof and one or more pharmaceutically acceptable excipients.
12. A pharmaceutical composition according to claim 11, which further comprises at least one additional therapeutically active agent.
13. A method of treating endometriosis, pre-menopausal and peri-menopausal hormone-dependent breast cancer, uterine fibroids, or other menstrual-related disorders, comprising administering a compound according to claim 1.
14. A method of contraception comprising administering a compound according to claim 1.