Inversion free Iterative Method for Finding Symmetric Solution of the Nonlinear Matrix Equation − ∗ = ( ≥ )

In this paper, we propose the inversion free iterative method to find symmetric solution of thenonlinear matrix equation − ∗ = ( ≥ ), where is an unknown symmetricsolution, is a given Hermitian matrix and is a positive integer. The convergence of theproposed method is derived. Numerical examples demonstrate that the proposed iterative methodis quite efficient and converges well when the initial guess is sufficiently close to the approximatesolution. Keywords: Symmetric solution, nonlinear matrix equation, inversion free, iterative metho

Inferring Robot Task Plans from Human Team Meetings: A Generative Modeling Approach with Logic-Based Prior

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human team's planning conversation. Our approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans. This hybrid approach enables us to overcome the challenge of performing inference over the large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentation and show we are able to infer a human team's final plan with 83% accuracy on average. We also describe a robot demonstration in which two people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work that integrates a logical planning technique within a generative model to perform plan inference.Comment: Appears in Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI-13

Terpenoids from the roots of Ceriops tagal induces apoptosis through activation of caspase-3 enzyme

Dolabr-4(17),15(16)-dien-3-one, isopimar-8(14)-en-15,16-diol, isopimar-8(14)-en-16-hydroxy-15-one, lupeol, lup-20(29)-en-3â,28-diol and lup-20(29)-en-3â-hydroxy-28-oic acid were isolated from the roots of amarine mangrove Ceriops tagal (Rhizophoraceae). The compounds were evaluated for activation of caspase-3 enzyme using Caspase-3 Colourimetric Assay. Caspase-3 enzyme was activated by all compounds in cleavingpNA from Ac-DEVD-pNA in the presence of caspase-3-inhibitor; Ac-DEVD-CHO. Lup-20(29)-en-3â- hydroxyl-28-oic acid, isopimar-8(14)-en-15,16-diol and isopimar-8(14)-en-16-hydroxy-15-one cleaved 41.7, 39.42 and 34.19 ìmol/L of pNA respectively. This study is therefore demonstrating that the isolatedcompounds may serve as leads for development of new chemotherapeutic drugs which acts by inducing apoptosis in the cancerous cells

Julius Nyerere: The Intellectual Pan-Africanist and the Question of African Unity

The question of African unity has dominated political and intellectual discourse for quite a while, yet the approach, mechanism and substance seem to be ever elusive. The rhetoric has raised so much dust it has blinded political leaders as to the concrete measures that need to be undertaken. To Julius Nyerere, the quest for unity, both nationally and continentally, was a lifetime undertaking and commitment, the lifeline for the emancipation and development of African people. Nyerere will forever be remembered for pushing and spearheading the growth of Kiswahili in East and Central Africa, which epitomized his belief that Kiswahili could promote African unity, just as it had done in Tanzania. He gave content and meaning to Tanzania`s independence by recognising the role of an indigenous language in the development of cultural authenticity and national unity. To him, pan-Africanism meant self-determination in political, economic, ideological, social and cultural spheres. As globalisation witnesses growing nationalism in other continents of the world (such as pan-Europeanism in Europe), and as Africa faces the prospect of increased marginalisation, African thinkers, intellectuals and literary icons such as Ali Mazrui, Chinua Achebe, Ngugi wa Thiong’o, Okot P’Bitek and Wole Soyinka have made passionate pleas for a cultural re-awakening, which they see as a first step towards social, political and economic growth. It is the thesis of this paper that by drawing from Nyerere’s example, African renaissance and the dream of pan-Africanism shall be realised and that Africans shall not only discover themselves and uphold their identity but also appreciate the inherent power enshrined in their cultural heritage. It is argued that over-reliance on imperialist colonial languages—which by and large are emblazoned with Western world views, cultural values and ideals—is in fact neo-colonial and therefore detrimental to African unity and the spirit of pan-Africanism. A common indigenous language will not only foster unity but accommodate and manage diversity, express identity and articulate concerns for collective action and shared solutions to achieve growth and development.When you recognise that so many of the surrounding nation states are riven by horrendous ethnic and tribal divisions, what Nyerere accomplished seems almost miraculous.1Tanzania illustrates the potential for ethnic harmony in a racially diverse setting. With an estimated 120 ethnic groups, it has avoided all ethnic conflict or political appeal to linguistic units. National unity cuts across ethnic boundaries, leading to a widespread rejection of tribalism. This outcome can be attributed to former president Julius Nyerere’s integrative political efforts and his government’s promotion of Swahili as a common language

The effect of FED's quantitative easing policy on listed companies and sectors in South Africa

This paper examines the effect of Quantitative Easing (QE) on listed companies and sectors in South Africa. The unconventional monetary policy carried out by the developed markets had spill over effects in emerging market economies. We focus on the policies performed by the United States. Our interest is to find out whether the QE announcements had any impact on the returns of listed companies and sectors in South Africa. An exploratory analysis is done on the macroeconomic and financial indicators in SA to provide grounds for doing the analysis on the listed companies. This analysis shows that the exchange rate and portfolio inflows were impacted by QE. However, other local factors were in play in affecting the exchange rate. The shrinkage in the global economic activity affected the Gross Domestic Product (GDP) growth rate. The changes in inflation cannot be attributed to QE. Most of the portfolio inflows were in the bond market and since some were directed to the equity market we proceed to check whether stocks and sectors had abnormal returns as a result. Our empirical analysis shows that only three companies had significant Cumulative Abnormal Returns (CARs) in the three phases of QE. On the sector front, nine out of the 34 sectors had significant CARs every time QE was announced. A broader classification of these sectors into industries shows that the industries represented are industrials, consumer goods, consumer services and financials. In QE1, the industrials industry and the consumer services industry had negative CARs but in QE2 and QE3, they had positive CARs. The consumer goods industry had positive CARs during the three phases of QE. This research concludes that QE1 had the greatest impact on the Johannesburg Stock Exchange (JSE) and its impact was negative. QE2 had a positive impact on the JSE since most companies and sectors had significant positive CARs. The impact of QE3 on sector abnormal returns was almost neutral. We also provide an investment strategy on the JSE using various indices for the periods following QE2 and QE3. Out of the 14 indices used, the small caps index is given a higher weighting in both portfolios due to its low risk

Tanzania Red-billed Hornbill Tockus ruahae feeding on a Giant Water Bug

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Comparative anticancer activity of dolaborane diterpenes from the roots of Ceriops tagal (Rhizophoraceae)

This study aimed at investigating the anticancer activity of tagalsins A, B, C, D, E, F and G isolated from the roots of Ceriops tagal. Their structures were established based on the IR, MS and NMR spectral data. Anticancer activity was evaluated using caspase-3 colourimetric assays and the minimum activation concentrations were established. The study revealed that tagalsin A, B, C, D, E, F and G induces apoptosis through the activation of caspase-3 enzyme. Tagalsin A was the most active (MAC value of 0.12 μg/mL) followed by tagalsin B (MAC of 0.15 μg/mL) and and tagalsin E was the least active (MAC value of 1.16 μg/mL). Structure activity relationship revealed that epoxide rings and oxygenation enhanced the activity of tagalsins in inducing caspase-3 activation of apoptotic pathway, thus, providing an avenue for the development of anticancer agents with novel mechanism of actions.Keywords: Ceriops tagal, dolaboranes, tagalsins, caspase-

ICT trends and their role in shaping the media industry in Kenya

Paper presented at ICT confrence of 2006Paper presented at ICT confrence of 200