R E S E A R C H
Open Access
The existence of solutions for some fractional
finite difference equations via sum boundary
conditions
Ravi P Agarwal
1,2, Dumitru Baleanu
3,4*, Shahram Rezapour
5and Saeid Salehi
5*Correspondence:
dumitru@cankaya.edu.tr
3Department of Mathematics,
Cankaya University, Ogretmenler Cad. 14, Balgat, Ankara, 06530, Turkey
4Institute of Space Sciences,
Magurele, Bucharest, Romania Full list of author information is available at the end of the article
Abstract
In this manuscript we investigate the existence of the fractional finite difference equation (FFDE)
μμ–2x(t) =g(t+
μ
– 1,x(t+μ
– 1),x(t+
μ
– 1)) via the boundary conditionx(μ– 2) = 0 and the sum boundary conditionx(μ+b+ 1) =αk=μ–1x(k) for order 1 <μ
≤2, whereg:Nμμ+–1b+1×R×R→R,α
∈Nμμ–1+b, andt∈Nb0+2. Along the same lines, we discuss the existence of the solutions for the following FFDE:μμ–3x(t) =g(t+
μ
– 2,x(t+μ
– 2)) via the boundary conditionsx(μ– 3) = 0 andx(μ+b+ 1) = 0 and the sum boundary conditionx(α) =kβ=γx(k) for order 2 <
μ
≤3, whereg:Nμμ+–2b+1×R→R,b∈N0,t∈Nb+30 , and
α
,β,γ ∈N μ+bμ–2 with
γ
<β
<α.
MSC: 34A08
Keywords: fractional finite difference equation; fixed point
1 Introduction
By the late th century, combined efforts made by several mathematicians led to a fairly solid understanding of fractional calculus in the continuous setting but significantly less is still known about discrete fractional calculus (see for example [, ] and [] and the references therein). Recently, there has been a strong interest in this subject but still little progress was made in developing the theory of fractional finite difference equations (see [–] and [] and the references therein).
Discrete fractional calculus is a powerful tool for the processes which appears in na-ture,e.g.biology, ecology and other areas (see for example [] and [] and the references therein), where the discrete models have to be considered in order to describe properly the complexity of the dynamical processes with memory effect. We notice that the exis-tence of solutions for fractional finite difference equations is a hot topic of the fractional calculus with direct implications in modeling of some real world phenomena which have only discrete behaviors.
Motivated by the above mentioned results, in this paper we investigate the fractional finite difference equation
μμ–x(t) =gt+μ– ,x(t+μ– ),x(t+μ– )
via the boundary conditionsx(μ– ) = andx(μ+b+ ) =kα=μ–x(k), whereb∈N,
t∈Nb+
, <μ≤,g:N
b+μ+
μ– ×R×R→R, andα∈N
b+μ μ–.
Moreover, we investigate the FFDE given by
μμ–x(t) =gt+μ– ,x(t+μ– )
via the boundary conditionsx(μ– ) = ,x(μ+b+ ) = , andx(α) =βk=γx(k), where b∈N,t∈Nb+, <μ≤,g:N
μ+b+
μ– ×R→Randα,β,γ ∈N
μ+b
μ–withγ <β<α.
In the following we present the basic definitions and theorems used in this manuscript. In Section we present the main result. The manuscript ends with our conclusions.
2 Preliminaries
As you know, the gamma function is defined by
(z) =
∞
e–ttz–dt,
which converges in the right half of the complex planeRe(z) > . It is well known that
(z+ ) =z(z) and(n) = (n– )! for alln∈N. Now, we define
tμ:= (t+ )
(t+ –μ)
for allt,μ∈R[]. Ift+ –μis a pole of the gamma function andt+ is not a pole, then we definetμ= []. For example, we have (μ– )μ–= . Also, one can verify that
μμ=μμ–=(μ+ ) andtμtμ+=t–μ.
In this paper, we use the notationsNp={p,p+ ,p+ , . . .}for allp∈RandNqp={p,p+
,p+ , . . . ,q}for all real numberspandqwheneverq–pis a natural number.
Letμ> withm– <μ<mfor some natural numberm. Theμth fractional sum off based atais defined as []
–aμf(t) =
(μ)
t–μ
r=a
t–σ(r)μ–f(r)
for allt∈Na+μ, whereσ(r) =r+ is the forward jump operator. Similarly, we define
μaf(t) =
(–μ)
t+μ
r=a
t–σ(r)–μ–f(r)
for allt∈Na+m–μ[]. Note that the domain ofraf isNa+m–rforr> andNa–rforr< .
Also, for the natural numberμ=m, we have the known formula []
μaf(t) =mf(t) =
m
i=
(–)i
m i
f(t+m–i).
We define
Lemma .[] Let g:Na→Rbe a mapping and m a natural number.Then the general
solution of the equationμa+μ–mx(t) =g(t)is given by
x(t) =
m
i=
Ci(t–a)μ–i+–aμg(t)
for all t∈Na+μ–m,where C, . . . ,Cmare arbitrary constants.
Letg:Nbμ++–μ×R×R→Rbe a mapping andma natural number. By using a similar
proof, one can check that the general solution of the equationμμ–mx(t) =g(t+μ–m+
,x(t+μ–m+ ),x(t+μ–m+ )) is given by
x(t) =
m
i=
Citμ–i+–μg
t+μ–m+ ,x(t+μ–m+ ),x(t+μ–m+ )
for allt∈Nμ–m. In particular, the general solution has the following representation:
x(t) =
m
i=
Citμ–i+
(μ)
t–μ
r=
t–σ(r)μ–
×gr+μ–m+ ,x(r+μ–m+ ),x(r+μ–m+ ) (.)
for allt∈Nμ–m. The next theorem plays an important role in our main results.
Theorem .[] Every continuous function from a compact,convex,nonempty subset of
a Banach space to itself has a fixed point.
3 Main results
In the following, we are ready to provide the main results. First, we investigate the FFDE
μμ–x(t) =gt+μ– ,x(t+μ– ),x(t+μ– )
via the boundary conditionsx(μ– ) = andx(μ+b+ ) =kα=μ–x(k), whereb∈N,
t∈Nb+
, <μ≤,g:N
b+μ+
μ– ×R×R→R, andα∈N
b+μ μ–.
Lemma . Let b∈N,t∈Nb+, <μ≤,g:N
b+μ+
μ– ×R×R→R,andα∈N
b+μ μ–.Then
xis a solution of the problem
μμ–x(t) =gt+μ– ,x(t+μ– ),x(t+μ– )
via the boundary conditions x(μ+b+ ) =αk=μ–x(k)and x(μ– ) = if and only if xis
a solution of the fractional sum equation
x(t) =
b+
r=
where
G(t,r,α) = t μ–α
k=r+μ(k–σ(r)) μ–
((μ+b+ )μ––μ(α+ )μ)(μ)
– (μ+b+ –σ(r)) μ–
μ(α+ ) μtμ–
(μ+b+ )μ–(μ)((μ+b+ )μ––μ(α+ )μ)
–(μ+b+ –σ(r)) μ–tμ–
(μ)(μ+b+ )μ– +
(t–σ(r))μ–
(μ)
whenever r<t–μ≤α–μor r≤α–μ<t–μ,
G(t,r,α) = – (μ+b+ –σ(r)) μ–
μ(α+ ) μ
tμ–
(μ+b+ )μ–(μ)((μ+b+ )μ––
μ(α+ ) μ)
–(μ+b+ –σ(r)) μ–tμ–
(μ)(μ+b+ )μ– +
(t–σ(r))μ– (μ)
wheneverα–μ<r≤t–μ,
G(t,r,α) = t μ–α
k=r+μ(k–σ(r)) μ–
((μ+b+ )μ––μ(α+ )μ)(μ)
– (μ+b+ –σ(r)) μ–
μ(α+ ) μtμ–
(μ+b+ )μ–(μ)((μ+b+ )μ––μ(α+ )μ)
–(μ+b+ –σ(r)) μ–tμ–
(μ)(μ+b+ )μ–
whenever t–μ≤r≤α–μand
G(t,r,α) = – (μ+b+ –σ(r)) μ–
μ(α+ ) μ
tμ–
(μ+b+ )μ–(μ)((μ+b+ )μ––
μ(α+ ) μ)
–(μ+b+ –σ(r)) μ–tμ–
(μ)(μ+b+ )μ–
whenever t–μ≤α–μ<r orα–μ≤t–μ<r.
Proof Letxbe a solution of the problem
μμ–x(t) =gt+μ– ,x(t+μ– ),x(t+μ– )
via the boundary conditionsx(μ+b+ ) =αk=μ–x(k) andx(μ– ) = . By using
Lem-ma ., we get
x(t) =Ctμ–+Ctμ–+–μg
t+μ– ,x(t+μ– ),x(t+μ– )
=Ctμ–+Ctμ–+
(μ)
t–μ
r=
t–σ(r)μ–
×gr+μ– ,x(r+μ– ),x(r+μ– )
Hence,
and so by interchanging the order of summations, we have
α
Now, letxbe a solution of the fractional sum equation
x(t) =
b+
r=
Thenxis a solution of the equation
x(t) = (μ+b+ )μ–
α
k=μ–
x(k)
–
(μ)
b+
r=
μ+b+ –σ(r)μ–gr+μ– ,x(r+μ– ),x(r+μ– )
tμ–
+
(μ)
t–μ
r=
t–σ(r)μ–gr+μ– ,x(r+μ– ),x(r+μ– )
=
(μ+b+ )μ– α
k=μ–
x(k) –
(μ)
b+
r=
μ+b+ –σ(r)μ–
×gr+μ– ,x(r+μ– ),x(r+μ– )
tμ–
+–μgt+μ– ,x(t+μ– ),x(t+μ– ).
It is easy to check thatx(μ– ) = . Also, we have
x(μ+b+ )
=
(μ+b+ )μ–
α
k=μ–
x(k) –
(μ)
b+
r=
μ+b+ –σ(r)μ–
×gr+μ– ,x(r+μ– ),x(r+μ– )
(μ+b+ )μ–
+
(μ)
b+
r=
μ+b+ –σ(r)μ–gr+μ– ,x(r+μ– ),x(r+μ– )
= α
k=μ–
x(k).
Moreover, we haveμμ–x(t) =g(t+μ– ,x(t+μ– ),x(t+μ– )). This completes
the proof.
Some authors tried to find the maximum or exact value ofbr=+|G(t,r,α)|in some pa-pers (see for example [, ] and []). Now, we show thatbr=+G(t,r,α) is bounded, whereG(t,r,α) is the Green function of the last result.
Lemma . For each t∈Nbμ++–μandα∈Nbμ+–μ,we have
b+
r=
G(t,r,α)
≤
b+
r=
G(t,r,α)≤MG
Proof Since(α) > for allα> , we have
(μ+b+ )μ–=(μ+b+ ) (b+ )! >
for allμ> andb> . Thus,G(t,r,α) is a (finite) real number, for allt∈Nbμ++–μ,α∈N
b+μ μ–
andr∈Nb+. Consequently, both sums in the statement are finite, becauseNb+is finite.
Theorem . Let g:Nμb+–μ+×R×R→Rbe bounded and continuous in its second and
third variables.Then the fractional finite difference equationμμ–x(t) =g(t+μ– ,x(t+
μ– ),x(t+μ– ))via the boundary conditions x(μ+b+ ) =αk=μ–x(k)and x(μ– ) = has a solution xwith x(t)∈[–MG,MG],for all admissible t.
Proof Sinceg is bounded, there exists a constantC such that|g(u,v,w)| ≤Cfor allu∈ Nb+μ+
μ– andv,w∈R. LetXbe the Banach space of real valued functions defined onN
μ+b+
μ–
via the norm
x=maxx(t):t∈Nμμ+–b+
andK={x∈X :x ≤CMG}. One can check easily thatK is a compact, convex, and
nonempty subset ofX. Now, define the mapTonKby
Tx(t) =
b+
r=
G(t,r,α)gr+μ– ,x(r+μ– ),x(r+μ– )
for allt∈Nμμ+–b+. First, we show thatT(K)⊆K. Letx∈Kandt∈N
μ+b+
μ– . Then
Tx(t)=
b+
r=
G(t,r,α)gr+μ– ,x(r+μ– ),x(r+μ– )
≤
b+
r=
G(t,r,α)gr+μ– ,x(r+μ– ),x(r+μ– )
≤CMG.
Sincet∈Nμμ+–b+ was arbitrary,Tx ≤CMGand soT(K)⊆K. Now, we show thatT is
continuous. Let> be given. Sincegis continuous in its second and third variables, it is uniformly continuous in its second and third variables on [–CMG,CMG] and so there
existsδ> such that|g(t,u,u) –g(t,v,v)|< MG for allt∈Nμμ+–b+ andu,u,v,v∈
[–CMG,CMG] with|u–v|<δand|u–v|<δ. Thus, we get
Ty(t) –Tx(t)
=
b+
r=
G(t,r,α)gr+μ– ,y(r+μ– ),y(r+μ– )
–
b+
r=
G(t,r,α)gr+μ– ,x(r+μ– ),x(r+μ– )
≤
b+
r=
G(t,r,α)gr+μ– ,y(r+μ– ),y(r+μ– )
–gr+μ– ,x(r+μ– ),x(r+μ– )
≤
b+
r=
G(t,r,α) MG ≤
MG
MG
=
for allt∈Nμμ+–b+. Hence,Tx–Ty<and soTis continuous onK. By using Theorem ., Thas a fixed pointxand so, by using Lemma ., the fractional finite difference equation
μμ–x(t) =gt+μ– ,x(t+μ– ),x(t+μ– )
via the boundary conditionsx(μ+b+ ) =αk=μ–x(k) andx(μ– ) = has a solution in
[–MG,MG].
Now, we consider the fractional finite difference equationμμ–x(t) =g(t+μ– ,x(t+
μ– )) via the boundary conditionsx(μ– ) = ,x(μ+b+ ) = andx(α) =βk=γx(k), where <μ≤ andα,β,γ ∈Nμμ+–bwithγ<β<α.
Lemma . Let b∈N,t∈Nb+, <μ≤,g:N
b+μ+
μ– ×R→R,andα,β,γ ∈N
μ+b
μ–with γ <β<α.Then xis a solution of the problemμμ–x(t) =g(t+μ– ,x(t+μ– ))via the
boundary conditions x(μ+b+ ) = ,x(α) =βk=γx(k),and x(μ– ) = if and only if xis
a solution of the fractional sum equation
x(t) =
b+
r=
G(t,r,β,α)gr+μ– ,x(r+μ– ),
where
G(t,r,β,α)
= (t
μ––tμ–)(μ+b–r)μ–
(αμ–(b–α+μ+ ) –μ–((β+ )μ––γμ–) –
μ((β+ )
μ–γμ))
× (
μ–((β+ )
μ––γμ–)(α–μ+ ) –
μ((β+ ) μ
–γμ))
(b–α+μ+ )(μ+b+ )μ–(μ)
+(t
μ–(α–μ+ ) –tμ–)(μ+b–r)μ–
(b–α+μ+ )(μ+b+ )μ–(μ)
+ (t
μ––tμ–)(α–r– )μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ)))
× (
μ((β+ )
μ–γμ) – (b+ )
μ–((β+ )
μ––γμ–))
αμ–(b–α+μ+ )(μ)
+(t
μ–– (b+ )tμ–)(α–r– )μ–
αμ–(b–α+μ+ )(μ)
+ (t
μ––tμ–)β
k=r+μ(k–σ(r)) μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –
μ((β+ )
μ–γμ)))(μ)
+(t–σ(r)) μ–
whenever r≤t–μ,r≤β–μ,
G(t,r,β,α)
= (t
μ––tμ–)(μ+b–r)μ–
(αμ–(b–α+μ+ ) –μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ))
× (
μ–((β+ )
μ––γμ–)(α–μ+ ) –
μ((β+ ) μ
–γμ))
(b–α+μ+ )(μ+b+ )μ–(μ)
+(t
μ–(α–μ+ ) –tμ–)(μ+b–r)μ–
(b–α+μ+ )(μ+b+ )μ–(μ)
+ (t
μ––tμ–)(α–r– )μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ)))
× (
μ((β+ )
μ–γμ) – (b+ )
μ–((β+ )
μ––γμ–))
αμ–(b–α+μ+ )(μ)
+(t
μ–– (b+ )tμ–)(α–r– )μ–
αμ–(b–α+μ+ )(μ)
+ (t
μ––tμ–)β
k=r+μ(k–σ(r)) μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ)))(μ)
whenever t–μ<r,r≤β–μ,
G(t,r,β,α)
= (t
μ––tμ–)(μ+b–r)μ–
(αμ–(b–α+μ+ ) –μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ))
× (
μ–((β+ )
μ––γμ–)(α–μ+ ) –
μ((β+ ) μ–γμ))
(b–α+μ+ )(μ+b+ )μ–(μ)
+(t
μ–(α–μ+ ) –tμ–)(μ+b–r)μ–
(b–α+μ+ )(μ+b+ )μ–(μ)
+ (t
μ––tμ–)(α–r– )μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –
μ((β+ )
μ–γμ)))
× (
μ((β+ ) μ
–γμ) – (b+ )μ–((β+ )μ––γμ–))
αμ–(b–α+μ+ )(μ)
+(t
μ–– (b+ )tμ–)(α–r– )μ–
αμ–(b–α+μ+ )(μ)
whenever t–μ<r,β–μ<r,r≤α–μ,
G(t,r,β,α)
= (t
μ––tμ–)(μ+b–r)μ–
(αμ–(b–α+μ+ ) –μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ))
× (
μ–((β+ )
μ––γμ–)(α–μ+ ) –
μ((β+ ) μ
–γμ))
(b–α+μ+ )(μ+b+ )μ–(μ)
+(t
μ–(α–μ+ ) –tμ–)(μ+b–r)μ–
(b–α+μ+ )(μ+b+ )μ–(μ) +
(t–σ(r))μ–
whenever r≤t–μ,α–μ<r and
G(t,r,β,α)
= (t
μ––tμ–)(μ+b–r)μ–
(αμ–(b–α+μ+ ) –μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ))
× (
μ–((β+ )
μ––γμ–)(α–μ+ ) –
μ((β+ ) μ
–γμ))
(b–α+μ+ )(μ+b+ )μ–(μ)
+(t
μ–(α–μ+ ) –tμ–)(μ+b–r)μ–
(b–α+μ+ )(μ+b+ )μ–(μ)
whenever t–μ<r,α–μ<r.
Proof Letxbe a solution of the problemμμ–x(t) =g(t+μ– ,x(t+μ– )) via the
bound-ary conditionsx(μ+b+ ) = ,x(α) =βk=γx(k), andx(μ– ) = . By using Lemma ., we get
x(t) =Ctμ–+Ctμ–+Ctμ–+
(μ)
t–μ
r=
t–σ(r)μ–gr+μ– ,x(r+μ– )
.
Similar to the proof of Lemma ., by using the boundary value conditions we obtainC=
,
C=
–
αμ–(b–α+μ+ ) β
k=γ
x(k)
–
(b–α+μ+ )(μ+b+ )μ–(μ)
b+
r=
(μ+b–r)μ–gr+μ– ,x(r+μ– )
+
αμ–(b–α+μ+ )(μ) α–μ
r=
(α–r– )μ–gr+μ– ,x(r+μ– )
and
C=
b+
αμ–(b–α+μ+ ) β
k=γ
x(k)
+ α–μ+
(b–α+μ+ )(μ+b+ )μ–(μ)
b+
r=
(μ+b–r)μ–gr+μ– ,x(r+μ– )
– b+
αμ–(b–α+μ+ )(μ) α–μ
r=
(α–r– )μ–gr+μ– ,x
(r+μ– )
.
Thus,
x(t) =
tμ––tμ–
αμ–(b–α+μ+ ) β
k=γ
x(k)
+ t
μ–(α–μ+ ) –tμ–
(b–α+μ+ )(μ+b+ )μ–(μ)
b+
r=
×gr+μ– ,x(r+μ– )
by replacing (.) in (.), we get
x(t)
=
b+
r=
(tμ––tμ–)(μ+b–r)μ–
(αμ–(b–α+μ+ ) –μ–((β+ )μ––γμ–) – μ((β+ )μ–γμ))
× (
μ–((β+ )
μ––γμ–)(α–μ+ ) –
μ((β+ ) μ–γμ))
(b–α+μ+ )(μ+b+ )μ–(μ)
+(t
μ–(α–μ+ ) –tμ–)(μ+b–r)μ–
(b–α+μ+ )(μ+b+ )μ–(μ)
gr+μ– ,x(r+μ– )
+ α–μ
r=
(tμ––tμ–)(α–r– )μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –μ((β+ )μ–γμ)))
× (
μ((β+ )
μ–γμ) – (b+ )
μ–((β+ )
μ––γμ–))
αμ–(b–α+μ+ )(μ)
+(t
μ–– (b+ )tμ–)(α–r– )μ–
αμ–(b–α+μ+ )(μ)
gr+μ– ,x(r+μ– )
+ β–μ
r=
(tμ––tμ–)kβ=r+μ(k–σ(r)) μ–
(αμ–(b–α+μ+ ) – (μ–((β+ )μ––γμ–) –
μ((β+ )
μ–γμ)))(μ)
×gr+μ– ,x(r+μ– )
+
t–μ
r=
(t–σ(r))μ– (μ) g
r+μ– ,x(r+μ– )
=
b+
r=
G(t,r,β,α)gr+μ– ,x(r+μ– )
.
Now, letxbe a solution of the fractional sum equation
x(t) =
b+
r=
G(t,r,β,α)gr+μ– ,x(r+μ– ).
Similar to proof of the Lemma ., we conclude thatxis a solution to the problem
μμ–x(t) =gt+μ– ,x(t+μ– )
via the boundary conditionsx(μ+b+ ) = , x(α) =βk=γx(k), andx(μ– ) = . This
completes the proof.
By using similar proofs of Lemma . and Theorem ., we obtain the next results.
Lemma . For each t∈Nbμ++–μandα,β∈N
b+μ
μ–,we have
b+
r=
G(t,r,β,α)
≤
b+
r=
G(t,r,β,α)≤MG
Theorem . Assume that g:Nbμ+–μ+×R→Ris continuous and bounded in its second
variable.Then the fractional finite difference equationμμ–x(t) =g(t+μ– ,x(t+μ– )) via the boundary conditions x(μ– ) = ,x(μ+b+ ) = ,and x(α) =βk=γx(k)has a
solution xwith x(t)∈[–MG,MG],for all admissible t.
4 An example
Now, we provide an example for the first investigated problem.
Example . Consider the equation
via the boundary value conditions x(–
) = and x(
in the first problem. Thus, we should investigate the fractional finite difference equation
is continuous and bounded in its second and third variables. Now, we show thatMG=
.. Also, the Green function is given by
Table 1 The values of the Green function
Similar calculations give us the values ofGsummarized in Table . Thus,MG≥
r=|G(t,r,α)|= .. Hence by using Theorem ., (.) has a solution
xwithx(t)∈[–., .] for all admissiblet.
5 Conclusions
In this manuscript based on a fixed point theorem we provided the existence results for two fractional finite difference equations in the presence of the sum boundary conditions. One example illustrates our results.
Competing interests
The authors declare that they have no competing interests.
Authors’ contributions
All authors contributed equally to the writing of this paper. All authors read and approved the final version of the manuscript.
Author details
1Department of Mathematics, Texas A&M University-Kingsville, 700 University Blvd., Kingsville, TX 78363-8202, USA. 2Department of Mathematics, Faculty of Science, King Abdulaziz University, P.O. Box 80204, Jeddah, 21589, Saudi Arabia. 3Department of Mathematics, Cankaya University, Ogretmenler Cad. 14, Balgat, Ankara, 06530, Turkey.4Institute of Space
Sciences, Magurele, Bucharest, Romania. 5Department of Mathematics, Azarbaijan Shahid Madani University, Azarshahr,
Tabriz, Iran.
Acknowledgements
Research of the third and fourth authors was supported by Azarbaijan Shahid Madani University.
Received: 16 September 2014 Accepted: 17 October 2014 Published:31 Oct 2014
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