(CNN) -- This week on Inside Africa

Nelson Mandela's personal photographer shares his images and memories from the fall of apartheid.

How an organization is using yoga to help rape survivors in Rwanda heal and grow stronger. And the daughter of boxing great Muhammad Ali returns to the Democratic Republic of Congo, the scene of one of his greatest triumphs.

Yoga survivors

It was an idea that almost no one thought would work -- yoga for HIV-positive rape survivors and their children in Rwanda.

It began as an experiment in 2007 when the non-governmental organization "WE-ACTx" brought in Deirdre Summerbell, a yoga enthusiast and writer, to set up the program.

And even she thought it had a dim chance.

But she quickly changed her mind, as results started coming in -- and "Project Air" was born. It soon caught the attention of pop star Madonna, who donated $250,000 dollars and now sits on the board.

"Project Air" founder and director Deirdre Summerbell tells us about her work.

Khaliah Ali in DRC

One of the daughters of Muhammad Ali just got back from a humanitarian visit to the Democratic Republic of Congo.

It was Khaliah Ali's first time visiting Africa, and she says the experience was overwhelming.

She got the lay of the land from Congolese fashion model Noella Coursaris Musunka, and she even got to see the stadium where her superstar father won the boxing match dubbed the "Rumble in the Jungle" 35 years ago.

Errol Barnett asked her about the trip and her future plans for the DRC.

Shoes for Africa

"Changing the world, two feet at a time" is the motto of the Ashe's Foundation.

The group, based in California, has shipped 10-thousand pairs of shoes and more than two tons of medical supplies to Ghana.

Don Lemon has the story of the organization and the woman behind it.

South African Pilots

South African photographer Peter Magubane has documented many of his country's most historic events, including the struggle against apartheid.

For his efforts, he was beaten, imprisoned and banned from practicing his craft.

But he just kept taking pictures anyway, and eventually Nelson Mandela hand-picked him to be one of his personal photographers.

Here, Magubane shares some of his memories and famous images from his award-winning career.

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