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R E S E A R C H

Open Access

Existence theory to a class of boundary value

problems of hybrid fractional sequential

integro-differential equations

M. Jamil

1*

, R.A. Khan

1

and K. Shah

1

*Correspondence:

[email protected] 1Department of Mathematics,

University of Malakand, Chakdara, Dir(Lower), khyber Pakhtunkhwa, Pakistan

Abstract

In this article, we study the existence result for a boundary value problem (BVP) of hybrid fractional sequential integro-differential equations. A fixed point theorem provided by Dhage in (Nonlinear Anal. 4:414–424,2010) is used for the solution existence of our boundary value problem. Also we illustrated our result through an example.

MSC: Primary 26A33; 34A08; secondary 34A38

Keywords: Boundary value problem; Hybrid fractional sequential integro-differential equation; Fixed point theorem

1 Introduction

Fractional calculus is a branch of mathematics which investigates the properties of inte-grals and derivatives of non-integer order. These inteinte-grals and derivatives of non-integer order are called fractional integrals and derivatives. The potential of fractional calculus has drawn the attention of applied scientists, engineers, and other researchers. Also the-oretical scientists or researchers are interested in the field of fractional derivatives and fractional integration. Chronologically, in [2] we can find different approaches of frac-tional calculus proposed by Liouville, Euler, Fourier, Riemann, Abel, etc. We can find some relevant work on fractional calculus in a series of papers [3–28].

In the area of fractional calculus, several researchers have studied hybrid fractional dif-ferential equations, see [1,29–32] and the references therein. Recently in [33], the authors developed an existence result for a boundary value problem of hybrid fractional differen-tial equations of the form

⎧ ⎨ ⎩

(φ(t)–ψ(t,φ(t))

θ(t,φ(t)) ) =ϕ(t,φ(t)), t∈[0, 1],α∈(1, 2],

[φ(tθ)–(tψ,φ((tt,φ))(t))]|t=0= 0, [φ()–(,φ((tt,))φ(t))]|t=1= 0,

whereθC(J×R,R\ {0}),ψ,ϕC(J×R,R).

(2)

In [34], Sitho derived an existence result for an initial value problem of hybrid fractional sequential integro-differential equations of the form

⎧ ⎨ ⎩

[Dωu(t)–mi=1Iβifi(t,u(t))

g(t,u(t)) ] =h(t,u(t),I

γu(t)), t[0,T],

u(0) = 0, u(0) = 0, (1)

where,Dωdenote the Riemann–Liouville fractional derivatives of orderα,ω

respec-tively and 0 <α,ω≤1.

In this article, we study the existence result for the boundary value problem of hybrid fractional sequential integro-differential equations involving Caputo derivatives given by

⎧ ⎨ ⎩

cDα[cDωu(t)–im=1Iβifi(t,u(t))

g(t,u(t)) ] =h(t,u(t),I

γu(t)), tJ= [0, 1],

u(0) = 0, u(0) = 0, u(1) =δu(η), 0 <δ< 1, 0 <η< 1, (2)

where cDα is the Caputo fractional derivative of orderα, cDω is the Caputo fractional

derivative of orderω, 0 <α≤1, 1 <ω≤2, denotes the Riemann–Liouville fractional

integral of orderγ > 0,Iβidenotes the Riemann–Liouville fractional sequential integrals

of orderβi> 0,gC(J×R,R\ {0}),hC(J×R2,R) andf

iC(J×R,R) withfi(0, 0) = 0,

i= 1, 2, . . . ,m.

In comparison to problem (1), our considered BVP (2) is more general than the problem studied in [34], as we consider a problem with three point boundary conditions, while the authors in [34] investigated an initial value problem. Moreover, in our problem the fractional orders of derivatives are 0 <α≤1 and 1 <ω≤2, whereas in problem (1) the fractional orders are 0 <α,ω≤1.

We obtain an existence result for the boundary value problem (2) in Sect.3by using generalized Krasnoselskii’s fixed point theorem provided by Dhage in [1].

2 Preliminaries

This section provides some important definitions of fractional calculus [2, 35, 36] and results of fixed point theory [1,20,21], which is base for the forthcoming sections.

Definition 1 The Caputo fractional derivative of positive real orderω> 0 of a function

u(t) is given by

cDω

u(t) = 1

Γ(nω)

t

0

u(n)(s)

(ts)ωn+1ds, ω> 0,

provided that the integral on the right-hand side exists.

Definition 2 The Riemann–Liouville fractional derivative of positive real orderω> 0 of a functionu(t) is given by

Dωu(t) = 1

Γ(nω)

dn dtn

t

0

u(s)

(ts)ωn+1ds, ω> 0,

(3)

Definition 3 The Riemann–Liouville fractional integral of positive real orderω> 0 of a functionu(t) is given by

u(t) = 1 Γ(ω)

t

0

(ts)ω–1u(s)ds, ω> 0,

provided that the integral on the right-hand side exists.

Remark1 For Definitions1–3,n= [ω] + 1, [ω] is the greatest integer less thanωandΓ is the gamma function defined byΓ(ω) =0essω–1ds.

Property 1([36]) Letβ,ω> 0 andu(t) be a function, then the semi-group property for the Riemann–Liouville fractional integrals of ordersβandωrespectively is given by

IβIωu(t) =+ωu(t).

Next we present two important results as lemmas which we need later.

Lemma 1([37]) For uC(0,T)∩L(0,T),the solution of the Caputo fractional differential equation

cDω

u(t) =g(t), n– 1 <ω<n,

is given by

u(t) =Iωg(t) +

n–1

i=0

kiti,

or

u(t) =Iωg(t) +k0+k1t+· · ·+kn–1t,

where n= [ω] + 1, [ω]is the greatest integer less thanω.

LetE=C(J,R) be the Banach space of continuous real-valued functions defined onJ= [0, 1]. We define a norm·and a multiplication inEbyu=suptJ|u(t)|and (uv)(t) =

u(t)v(t),∀t∈J. Then clearlyEis a Banach algebra with above defined supremum norm and multiplication in it.

Lemma 2([1]) Let S be a nonempty,convex,closed,and bounded set such that SE,and let A:EE and B:SE be two operators which satisfy the following:

(c1) Ais contraction,

(c2) Bis compact,and

(c3) u=Au+BvvSuS.

(4)

3 Solution existence of hybrid fractional sequential integro-differential equations

In this section, we consider the hybrid fractional sequential integro-differential equation boundary value problem (2). First we derive its solution and then discuss the existence of solution using the above stated definitions and results of the preliminary section.

Lemma 3 Suppose that0 <α≤1, 1 <ω≤2,γ > 0,and functions g,h,fi,i= 1, 2, . . . ,m,

satisfy BVP(2).Then the unique solution of BVP(2)is given by

u(t) =

t

0

(ts)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)α–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf

i

t,u(t)

+ t

δη– 1

1

0

(1 –s)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)ω–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf

i

1,u(1)

δ

η

0

(ηs)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)ω–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf

i

η,u(η)

, (3)

where

Iβi+ωf

i

t,u(t)=

t

0

(ts)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds,

Iβi+ωf

i

1,u(1)=

1

0

(1 –s)βi+ω–1

Γ(βi+ω) fi

s,u(s)ds,

and

Iβi+ωf

i

η,u(η)=

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds.

Proof Assigning the Riemann–Liouville fractional integral operator of orderαto hybrid fractional sequential integro-differential equations (2) and using Lemma1, we have

cDωu(t) –m

i=1Iβifi(t,u(t))

g(t,u(t)) =I

α

ht,u(t),Iγu(t)+k0. (4)

In view of the initial conditionsu(0) = 0,u(0) = 0 of problem (2) withf

i(0, 0) = 0, we

havek0= 0, and then equation (4) takes the form

cDω

u(t) =gt,u(t)

t

0

(ts)α–1

Γ(α) h

s,u(s),Iγu(s)ds+

m

i=1

Iβif

i

(5)

Now assigning the Riemann–Liouville fractional integral operator of orderωto equation (5) and using Lemma1with semi-group Property1, we have

u(t) =

t

0

(ts)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)α–1

Γ(α) h

μ,u(μ),u(μ)dμds

+

m

i=1

Iβi+ωf

i

t,u(t)+k1+k2t. (6)

The initial conditionu(0) = 0 of problem (2) givesk1= 0, for which equation (6) becomes

u(t) =

t

0

(ts)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)α–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf i

t,u(t)+k2t, (7)

and then the boundary conditionu(1) =δu(η) of problem (2) gives

k2=

1

δη– 1

1

0

(1 –s)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)ω–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf

i

1,u(1)

δ

η

0

(ηs)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)ω–1

Γ(α) h

μ,u(μ),u(μ)dμds

+

m

i=1

Iβi+ωf

i

η,u(η)

,

for which equation (7) takes the form

u(t) =

t

0

(ts)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)α–1

Γ(α) h

μ,u(μ),u(μ)dμds

+

m

i=1

Iβi+ωf

i

t,u(t)

+ t

δη– 1

1

0

(1 –s)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)ω–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf

i

1,u(1)

δ

η

0

(ηs)ω–1

Γ(ω) g

s,u(s)

s

0

(sμ)ω–1

Γ(α) h

μ,u(μ),Iγu(μ)dμds

+

m

i=1

Iβi+ωf

i

η,u(η)

.

(6)

For developing the existence result, we consider some assumptions which are the fol-lowing.

(A1) The functionsfiC(J×R,R), gC(J×R,R\ {0}), andhC(J×R2,R)are continuous, and there exist positive functionsλi(t),Θ(t), andψ(t)with boundsλi,

Θ, andψrespectively such that

fi

t,u(t)–fi(t,v(t)≤λi(t)u(t) –v(t),

gt,u(t)–g(t,v(t)≤Θ(t)u(t) –v(t),

and ht,u(t),u¯(t)–h(t,v(t),v¯(t)≤ψ(t)u(t) –v(t)+u¯(t) –v¯(t)

fort∈Jandu,v∈R.

(A2) |fi(t,u)| ≤φi(t),∀(t,u)∈J×R,φiC(J,R+), i= 1, 2, 3, . . . ,m, |h(t,u,v)| ≤Ω(t), ∀(t,u,v)∈J×R×R,ΩC(J,R+),|g(t,u)| ≤χ(t),∀(t,u)∈J×R,χC(J,R+).

(A3) There existsr> 0such that

1 + 1 +δ

|δη– 1|

χΩ Γ(α+ 1)Γ(ω+ 1)+

m

i=1

φi Γ(βi+ω+ 1)

r

and

1 + 1 +δ

|δη– 1|

ΩΘ+χψ Γ(α+ 1)Γ(ω+ 1) +

χψ

Γ(α+ 1)Γ(ω+ 1)Γ(γ+ 1)

< 1. (8)

Our main existence result is based on generalized Krasnoselikii’s fixed point theorem by Dhage [1], which we have provided in Lemma2.

Theorem 2 Let assumptions(A1)(A3)hold,then there exists at least one solution for BVP

(2)inJ= [0, 1].

Proof First we setsuptJ|φi(t)|=φi,supt∈J|λi(t)|=λi,i= 1, 2, . . . ,m,supt∈J|Θ(t)|= Θ,suptJ|ψ(t)|=ψ,suptJ|Ω(t)|=Ω, andsuptJ|χ(t)|=χ.

Now we considerE=C(J,R) and defineSEas

S=uE:ur.

ClearlySis a closed, convex, and bounded subset of the Banach spaceE. Let us define two operatorsC:E−→EandD:E−→Esuch that

Cu(t) =

t

0

(ts)α–1

Γ(α) h

s,u(s),Iγu(t)ds

and

Du(t) =gt,u(t).

Then, using assumptions (A1), (A2) and proceeding with maximum overJ, we have

Cu(t) –Cv(t)≤ ψ

Γ(α+ 1)

1 + 1

Γ(γ + 1)

(7)

Du(t) –Dv(t)≤ Θuv, (10)

Cu(t)≤ Ω

Γ(α+ 1) (11)

and Du(t)≤ χ. (12) Now we define two more operatorsA:E−→EandB:S−→Esuch that

Au(t) =

t

0

(ts)ω–1

Γ(ω) Du(s)Cu(s)ds+

t

δη– 1

1

0

(1 –s)ω–1

Γ(ω) Du(s)Cu(s)dsδt

δη– 1

η

0

(ηs)ω–1

Γ(ω) Du(s)Cu(s)ds, t∈J (13) and

Bu(t) =

m

i=1

Iβi+ωf

i

t,u(t)+ t

δη– 1

m

i=1

Iβi+ωf

i

1,u(1)

δt

δη– 1

m

i=1

Iβi+ωf

i

η,u(η), t∈J,

or

Bu(t) =

m

i=1

t

0

(ts)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds+ t

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds

δt

δη– 1

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds, tJ. (14)

Then the integral equation (3) can be written in the operator form as follows:

u(t) =Au(t) +Bu(t), tJ. (15)

We show that the two operatorsAandBin (15) satisfy all the conditions of Lemma2. This can be achieved in the following steps.

Step 1. First we show thatAis a contraction mapping. Letu(t),v(t)∈S, then we have

Au(t) –Av(t)

t

0

(ts)ω–1

Γ(ω) Du(s)Cu(s) –Dv(s)Cv(s)ds + t

|δη– 1|

1

0

(1 –s)ω–1

Γ(ω) Du(s)Cu(s) –Dv(s)Cv(s)ds + δt

|δη– 1|

η

0

(ηs)ω–1

Γ(ω) Du(s)Cu(s) –Dv(s)Cv(s)ds

1 + 1

|δη– 1|+

δ

|δη– 1|

1

0

(1 –s)ω–1

Γ(ω) Du(s)Cu(s) –Dv(s)Cv(s)ds

1 + 1 +δ

|δη– 1|

1

0

(1 –s)ω–1

(8)

+Cu(s)Dv(s) –Dv(s)Cv(s)ds

1 + 1 +δ

|δη– 1|

1

0

(1 –s)ω–1

Γ(ω) Cu(s)Du(s) –Dv(s)ds +

1

0

(1 –s)ω–1

Γ(ω) Dv(s)Cu(s) –Cv(s)ds

,

which gives

Au(t) –Av(t)≤

1 + 1 +δ

|δη– 1|

ΩΘ+χψ Γ(α+ 1)Γ(ω+ 1) + χψ

Γ(α+ 1)Γ(ω+ 1)Γ(γ+ 1)

uv.

Hence by (8) the operatorAis a contraction mapping.

Step 2. Next we show that the operatorBsatisfies condition (c2) of Lemma2, that is,

the operatorBis compact onS. Therefore first we show that the operatorBis continuous onS. Let{un(t)}be a sequence of functions inSconverging to a functionu(t)∈S. Then,

by the Lebesgue dominant convergence theorem,∀t∈J, we have

lim

n→∞Bun(t) =nlim→∞

m

i=1

t

0

(ts)βi+ω–1

Γ(βi+ω)

fi

s,un(s)

ds

+ t

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω) fi

s,un(s)

ds

δt

δη– 1

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,un(s)

ds = m i=1 t 0

(ts)βi+ω–1

Γ(βi+ω)

lim

n→∞fi

s,un(s)

ds

+ t

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω)

lim

n→∞fi

s,un(s)

ds

δt

δη– 1

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

lim

n→∞fi

s,un(s)

ds = m i=1 t 0

(ts)βi+ω–1

Γ(βi+ω) fi

s,u(s)ds

+ t

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω) fi

s,u(s)ds

δt

δη– 1

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds.

Hencelimn→∞Bun(t) =Bu(t). ThusBis a continuous operator onS. Further, we show that

the operatorBis uniformly bounded onS. For anyuS, we have

Bu(t)≤

m

i=1

t

0

(ts)βi+ω–1

Γ(βi+ω)

fi

(9)

+ t

|δη– 1|

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω) fi

s,u(s)ds

+ δt

|δη– 1|

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds

1 + 1 +δ

|δη– 1|

m

i=1

φi Γ(βi+ω+ 1)

:=M.

ThereforeBu(t) ≤M,∀t∈J, which shows thatBis uniformly bounded onS. Now, we show that the operatorBis equi-continuous. Lett1,t2∈Jwitht1<t2andu(t)∈S. Then

we have

Bu(t2) –Bu(t1)≤

m i=1 t2 0

(t2–s)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds

m i=1 t1 0

(t1–s)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds

+t2–t1

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω)

fi

s,u(s)ds

δ(t2–t1)

δη– 1

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,u(s)dsm i=1 φi Γ(βi+ω)

t1 0

(t2–s)βi+ω–1– (t1–s)βi+ω–1 ds

+

t2

t1

(t2–s)βi+ω–1ds+

t2–t1

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1ds

δ(t2–t1)

δη– 1

m

i=1

η

0

(ηs)βi+ω–1ds

m i=1 φi Γ(βi+ω+ 1)

tβi+ω

2 –t

βi+ω

1 + (t2–t1)βi+ω

+t2–t1

δη– 1–

δηβi+ω(t

2–t1)

δη– 1

.

Now ast2–t1−→0, so the right-hand side tends to zero. ThusBis equi-continuous.

Therefore, it follows from the Arzelá–Ascoli theorem thatBis a compact operator onS.

Step 3.Condition (c3) of Lemma2holds. So, for anyvS, we have

u(t)=Au(t) +Bv(t)

Au(t)+Bv(t)

t

0

(ts)ω–1

Γ(ω) Du(s)Cu(s)ds+

t

δη– 1

1

0

(1 –s)ω–1

Γ(ω) Du(s)Cu(s)dsδt

δη– 1

η

0

(ηs)ω–1

Γ(ω) Du(s)Cu(s)ds

+ m i=1 t 0

(ts)βi+ω–1

Γ(βi+ω)

fi

(10)

+ t

δη– 1

m

i=1

1

0

(1 –s)βi+ω–1

Γ(βi+ω) fi

s,v(s)ds

δt

δη– 1

m

i=1

η

0

(ηs)βi+ω–1

Γ(βi+ω)

fi

s,v(s)ds

1 + 1 +δ

|δη– 1|

χΩ Γ(α+ 1)Γ(ω+ 1)+

m

i=1

φi Γ(βi+ω+ 1)

r,

which impliesur, and souS. Hence all the conditions of Lemma2are satisfied. Therefore, the operator equationu(t) =Au(t) +Bu(t) has at least one solution inS. Con-sequently, there exists a solution of BVP (2) inJ= [0, 1]. Thus the proof is completed.

4 Example

We present an example of the BVP of hybrid fractional sequential integro-differential equations to test our main result.

Example1 ⎧ ⎪ ⎨ ⎪ ⎩

cD35[

cD32u(t)–3

i=1Iβifi(t,u(t))

1

4t2sec(π3t)(|u (t)|+1

|u(t)|+2)

] = 52cos(t6)(|u|u(t()t|)+1| +I52u(t)), tJ,

u(0) = 0, u(0) = 0, u(1) =δu(η), 0 <δ< 1, 0 <η< 1,

(16)

where

3

i=1

Iβif

i

t,u(t)=I13

cos t 3 |

u(t)| 1 +|u(t)|

+etsint

+I43

tsint|u(t)|

|u(t)|+ 1 + 2 3 –t2

+I35

|

u(t)|tan(√2t)

|u(t) + 2| +

t

1 +et

. (17)

From equations (16) and (17), we haveα=3

5,ω=

3

2,m= 3,β1=

1 3,β2=

4 3,β3=

3

5,γ =

5 2,

f1(t,u(t)) =cos(3t)(1+|u|(ut()t|)|) +etsint,f2(t,u(t)) = √

tsint|u(t)| |u(t)|+1 +

2

3–t2,f3(t,u(t)) = |u(t)|tan(

t

2 )

|u(t)+2| +

t

1+et,

g(t,u(t)) =14t2sec(πt

3)( |u(t)|+1

|u(t)|+2), andh(t,u(t),I

γu(t)) =2 5cos(

t

6)( |u(t)| |u(t)|+1+I

5

2u(t)). It is easy to

show that

f1

t,u(t)–f1(t,v(t)≤cos

t

3

u(t) –v(t),

f2

t,u(t)–f2(t,v(t)≤ √

tsintu(t) –v(t),

f3

t,u(t)–f3(t,v(t)≤tan

t

2

u(t) –v(t),

gt,u(t)–g(t,v(t)≤1 4t 2sec πt 3

u(t) –v(t),

and ht,u(t),u¯(t)–h(t,v(t),v¯(t)≤2 5cos

t

6

(11)

Therefore, we can choose

λ1(t) =cos

t

3

, λ2(t) = √

tsint, λ3(t) =tan

t

2

,

Θ(t) =1 4t

2sec

πt

3

, ψ(t) =2 5cos

t

6

.

Also the functionsg(t,u(t)),h(t,u(t),u(t)), andf

i(t,u(t)),i= 1, 2, 3, are bounded by the

positive functions as follows:

f1

t,u(t)≤cos

t

3

+etsint=φ1(t),

f2

t,u(t)≤√tsint+ 2

3 –t2 =φ2(t),

f3

t,u(t)≤tan

t

2

+ t

1 +et =φ3(t),

gt,u(t)≤1 4t

2sec

πt

3

=χ(t),

and ht,u(t),v(t)≤2 5cos

t

6

=Ω(t).

Choosingδ= 0.1,η= 0.9 and puttingΩ=ψ= 0.4,χ=Θ= 0.5 in (8), we have

1 + 1 +δ

|δη– 1|

ΩΘ+χψ Γ(α+ 1)Γ(ω+ 1) +

χψ

Γ(α+ 1)Γ(ω+ 1)Γ(γ+ 1)

≈0.8594 < 1.

Hence all the conditions of Theorem2hold. Thus the boundary value problem (16) has at least one solution inJ= [0, 1].

5 Conclusion

In consequence to generalized Krasnoselskii’s fixed point theorem provided by Dhage [1], we developed an existence result for the aforementioned boundary value problem (2) of hybrid fractional sequential integro-differential equations. The respective result has been tested by providing an illustrative example.

Acknowledgements

We thank the referees for their useful suggestions which improved the final version of the manuscript.

Funding

There is no funding source to support this manuscript financially.

Availability of data and materials

Not applicable.

Competing interests

It is declared that no competing interests exist regarding this manuscript.

Authors’ contributions

All authors have equal contribution in this manuscript. All authors read and approved the final manuscript.

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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