Papers by CARLOS PRINCIPE ROSALES
Human Gene Therapy, 2014
Human papilloma viruses can induce warts, condylomas, and other intraepithelial cervical lesions ... more Human papilloma viruses can induce warts, condylomas, and other intraepithelial cervical lesions that can progress to cancer. Cervical cancer is a serious problem in developing countries because early detection is difficult, and thus proper early treatment is many times missing. In this phase III clinical trial, we evaluated the potential use of MVA E2 recombinant vaccinia virus to treat intraepithelial lesions associated with papillomavirus infection. A total of 1176 female and 180 male patients with intraepithelial lesions were studied. They were injected with 10 7 MVA E2 virus particles directly into their uterus, urethra, vulva, or anus. Patients were monitored by colposcopy and cytology. Immune response was determined by measuring the antibody titer against MVA E2 virus and by analyzing the cytotoxic activity against cancer cells bearing papillomavirus DNA. Papillomavirus was determined by the Hybrid Capture method or by polymerase chain reaction analysis. By histology, 1051 (89.3%) female patients showed complete elimination of lesions after treatment with MVA E2. In 28 (2.4%) female patients, the lesion was reduced to CIN 1. Another 97 (8.3%) female patients presented isolated koilocytes after treatment. In men, all lesions were completely eliminated. All MVA E2-treated patients developed antibodies against the MVA E2 vaccine and generated a specific cytotoxic response against papilloma-transformed cells. Papillomavirus DNA was not detected after treatment in 83% of total patients treated. MVA E2 did not generate any apparent side effects. These data suggest that therapeutic vaccination with MVA E2 vaccine is an excellent candidate to stimulate the immune system and generate regression in intraepithelial lesions when applied locally.
IEEE Transactions on Robotics, 2013
This paper presents a procedure to synthesize highquality grasps for objects that need to be held... more This paper presents a procedure to synthesize highquality grasps for objects that need to be held and manipulated in a specific way, characterized by a pre-specified set of contact constraints to be satisfied. Due to the multi-modal nature of typical grasp quality measures, approaches that resort to local optimization methods are likely to get trapped into local extrema on such problem. An additional difficulty of the problem is that the set of feasible grasps is a highly-dimensional manifold, implicitly defined by a system of non-linear equations. The proposed procedure finds a way around these issues by focusing the exploration on a relevant subset of grasps of lower dimension, and tracing this subset exhaustively using a higher-dimensional continuation technique. A detailed atlas of the subset is obtained as a result, on which the highest-quality grasp according to any desired criterion, or a combination of criteria, can be readily identified. Examples are included that illustrate the application of the method to a three-fingered planar hand and to the Schunk anthropomorphic hand grasping several objects, using several quality indices.
International Journal of Robotic Research, 2011
In this paper we present a new method to solve the configuration problem on robotic hands: determ... more In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand—object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such
International Journal of Robotic Research, 2011
In this paper we present a new method to solve the configuration problem on robotic hands: determ... more In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand—object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such
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Papers by CARLOS PRINCIPE ROSALES