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FOR RELATIVELY NONEXPANSIVE MAPPINGS IN BANACH SPACES

SHIN-YA MATSUSHITA AND WATARU TAKAHASHI Received 29 October 2003

We first introduce an iterative sequence for finding fixed points of relatively nonexpansive mappings in Banach spaces, and then prove weak and strong convergence theorems by using the notion of generalized projection. We apply these results to the convex feasibility problem and a proximal-type algorithm for monotone operators in Banach spaces.

1. Introduction

LetEbe a real Banach space and letAbe a maximal monotone operator fromEtoE, whereEis the dual space ofE. It is well known that many problems in nonlinear analysis and optimization can be formulated as follows: find

uE such that 0Au. (1.1)

A well-known method for solving (1.1) in a Hilbert spaceHis the proximal point algo- rithm:x0Hand

xn+1=Jrnxn, n=0, 1, 2,..., (1.2) where{rn} ⊂(0,) andJr=(I+rA)1for allr >0. This algorithm was first introduced by Martinet [9]. In [16], Rockafellar proved that if lim infn→∞rn>0 andA10= ∅, then the sequence{xn}defined by (1.2) converges weakly to an element of solutions of (1.1).

On the other hand, Kamimura and Takahashi [4] considered an algorithm to generate a strong convergent sequence in a Hilbert space. Further, Kamimura and Takahashi’s re- sult was extended to more general Banach spaces by Kohsaka and Takahashi [7]. They introduced and studied the following iteration sequence:x=x0Eand

xn+1=J1αnJx+1αn JJrnxn

, n=0, 1, 2,..., (1.3) whereJis the duality mapping onEandJr=(J+rA)1Jfor allr >0. Kohsaka and Taka- hashi [7] proved that ifA10= ∅, limn→∞αn=0,n=0αn= ∞, and limn→∞rn= ∞, then the sequence generated by (1.3) converges strongly to an element ofA10.

Copyright©2004 Hindawi Publishing Corporation Fixed Point Theory and Applications 2004:1 (2004) 37–47 2000 Mathematics Subject Classification: 47H09, 47H05, 47J25 URL:http://dx.doi.org/10.1155/S1687182004310089

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On the other hand, Reich [13] studied an iteration sequence of nonexpansive map- pings in a Banach space which was first introduced by Mann [8]:x0Cand

xn+1=αnxn+1αn

Sxn, n=0, 1, 2,..., (1.4) whereSis a nonexpansive mapping from a closed convex subsetCof Einto itself and {αn} ⊂[0, 1]. He proved that ifF(T) is nonempty andn=0αn(1αn)= ∞, then the sequence generated by (1.4) converges weakly to some fixed point ofS.

Motivated by Kohsaka and Takahashi [7], and Reich [13], our purpose in this paper is to prove weak and strong convergence theorems for relatively nonexpansive mappings in Banach spaces which were first introduced by Butnariu et al. [3] and further studied by the authors [10]. For this purpose, we consider the following iterative sequence:x0C and

xn+1=ΠCJ1αnJxn+1αnJTxn

, n=0, 1, 2,..., (1.5) whereTis a relatively nonexpansive mapping fromCinto itself andΠCis the generalized projection ontoC. Notice that ifEis a Hilbert space andS=T, then the sequences (1.4) and (1.5) are equivalent. We prove that if F(T) is nonempty and the duality mapping J is weakly sequentially continuous, then the sequence{xn}converges weakly to a fixed point ofT and if the interior ofF(T) is nonempty, then{xn}converges strongly to a fixed point ofT. Using these results, we also consider the convex feasibility problem and a proximal-type algorithm for monotone operators in Banach spaces.

2. Preliminaries

LetEbe a Banach space with norm · and letEbe the dual ofE. Then we denote by x,xthe pairing betweenxEandxE. When{xn}is a sequence inE, we denote the strong convergence and the weak convergence of{xn}toxEbyxnxandxnx, respectively.

A Banach spaceEis said to be strictly convex if(x+y)/2<1 for allx,yEwith x = y =1 andx=y. It is also said to be uniformly convex if limn→∞xnyn =0 for any two sequences{xn},{yn}inEsuch thatxn=yn=1 and limn→∞(xn+yn)/2= 1. The following result was proved by Xu [19].

Proposition2.1 [19]. Letr >0and letEbe a Banach space. IfEis uniformly convex, then there exists a continuous, strictly increasing, and convex functiong: [0,)[0,)with g(0)=0such that

λx+ (1λ)y2λx2+ (1λ)y2λ(1λ)gxy

(2.1) for allx,yBr= {zE:zr}andλwith0λ1.

LetU= {xE:x =1}be the unit sphere ofE. The norm ofEis said to beGˆateaux differentiableif for eachx,yU, the limit

limt

0

x+tyx

t (2.2)

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exists. In this case,Eis calledsmooth. The norm ofEis said to beFr´echet differentiableif for eachxU, the limit is attained uniformly foryU. It is also said to beuniformly smoothif the limit is attained uniformly forx,yU. The (normalized) duality mapping JfromEtoEis defined by

Jx=

xE:x,x= x2=x2 (2.3) forxE. We say thatJisweakly sequentially continuousif for a sequence{xn} ⊂E,xn x, thenJxn Jx, where denotes the weakconvergence. We list several well-known properties of the duality mapping:

(1) ifEis smooth, thenJis single valued and norm-to-weakcontinuous;

(2) ifEis Fr´echet differentiable, thenJis norm-to-norm continuous;

(3) ifEis uniformly smooth, thenJis uniformly norm-to-norm continuous on each bounded subset ofE.

For more details, see [17]. Assume thatEis smooth. Then the functionV:E×ERis defined by

V(x,y)= x22 x,J y+y2 (2.4) forx,yE. From the definition ofV, we have that

xy2

V(x,y)

x+y2

(2.5) forx,yE. The functionValso has the following property:

V(y,x)=V(z,x) +V(y,z) + 2 zy,JxJz (2.6) forx,y,zE. The following result was proved by Kamimura and Takahashi [5].

Proposition2.2 (Kamimura and Takahashi [5]). Letr >0and letEbe a uniformly convex and smooth Banach space. Then

gyz

V(y,z) (2.7)

for all y,zBr= {wE:wr}, where g: [0,)[0,)is a continuous, strictly increasing, and convex function withg(0)=0.

LetCbe a nonempty closed convex subset ofE. Suppose thatEis reflexive, strictly convex, and smooth. Then, for anyxE, there exists a unique pointx0Csuch that

Vx0,x=min

yCV(y,x). (2.8)

Following Alber [1], we denote such anx0byΠCx. The mappingΠC is called thegen- eralized projectionfromEontoC. It is easy to see that in a Hilbert space, the mapping ΠCis coincident with the metric projection. Concerning the generalized projection, the following are well known.

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Proposition2.3 (Alber [1]; see also Kamimura and Takahashi [5]). LetCbe a nonempty closed convex subset of a smooth Banach spaceEandxE. Then

x0=ΠCx⇐⇒

x0y,JxJx0

0 for eachyC. (2.9) Proposition2.4 (Alber [1]; see also Kamimura and Takahashi [5]). LetEbe a reflexive, strictly convex, and smooth Banach space, letCbe a nonempty closed convex subset ofE, and letxE. Then

Vy,ΠCx+VΠCx,xV(y,x) for eachyC. (2.10) LetTbe a mapping fromCinto itself. We denote byF(T) the set of fixed points ofT.

A point pinCis said to be anasymptotic fixed pointofT[12] ifCcontains a sequence {xn}which converges weakly topsuch that the strong limn→∞(xnTxn)=0. The set of asymptotic fixed points ofT is denoted by ˆF(T). We say that the mapping T is called relatively nonexpansive[3,10] ifF(T)=F(T) andˆ

V(p,Tx)V(p,x) for eachxC, pF(T). (2.11) 3. Main results

In this section, we discuss the weak and strong convergence of (1.5). To prove our results, we need the following proposition.

Proposition3.1. LetEbe a uniformly convex and smooth Banach space, letCbe a non- empty closed convex subset of E, and let T be a relatively nonexpansive mapping fromC into itself such thatF(T)is nonempty. Let{αn}be a sequence of real numbers such that 0αn1. Suppose{xn}is the sequence generated byx0Candxn+1=ΠCJ1nJxn+ (1αn)JTxn),n=0, 1, 2,....Then{ΠF(T)xn}converges strongly to some fixed point ofT, whereΠF(T)is the generalized projection fromContoF(T).

Proof. We know thatF(T) is closed and convex (see [10]). So, we can define the general- ized projectionΠF(T)ontoF(T). LetpF(T). FromProposition 2.4and the convexity of · 2, we have

Vp,xn+1

=Vp,ΠCJ1αnJxn+1αn JTxn

Vp,J1αnJxn+1αn JTxn

= p22p,αnJxn+1αn JTxn

+αnJxn+1αn JTxn2

p2n p,Jxn

21αn

p,JTxn

+αnxn2+1αnTxn2

=αn p22p,Jxn

+xn2

+1αn p22p,JTxn

+Txn2

=αnVp,xn

+1αn

Vp,Txn

αnVp,xn

+1αn

Vp,xn

=Vp,xn .

(3.1)

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Hence, limn→∞V(p,xn) exists and, in particular,{V(p,xn)}is bounded. Then, by (2.5), {xn} is also bounded. This implies that{Txn} is bounded. Letun=ΠF(T)xn for each nN∪ {0}. Then, we have

Vun,xn+1

Vun,xn

. (3.2)

It follows from (2.10) that Vun+1,xn+1

=VΠF(T)xn+1,xn+1

Vun,xn+1

VunF(T)xn+1

. (3.3)

Combining this with (3.2), we obtain Vun+1,xn+1

Vun,xn

. (3.4)

It follows that{V(un,xn)}converges. Then, from (3.3), Vun,un+1

Vun,xn

Vun+1,xn+1

. (3.5)

By induction, we have

Vun,un+m

Vun,xn

Vun+m,xn+m

(3.6) for eachmN. UsingProposition 2.2, we have, form,nwithn > m,

gumunVum,un

Vum,xm

Vun,xn

, (3.7)

whereg: [0,)[0,) is a continuous, strictly increasing, and convex function with g(0)=0. Then the properties ofg yield that{un}is a Cauchy sequence. SinceEis com- plete andF(T) is closed,{un}converges strongly to some pointuinF(T).

Now, we can prove a weak convergence theorem.

Theorem3.2. LetEbe a uniformly convex and uniformly smooth Banach space, letCbe a nonempty closed convex subset ofE, letT be a relatively nonexpansive mapping fromC into itself such thatF(T)is nonempty, and let{αn}be a sequence of real numbers such that 0αn1andlim infn→∞αn(1αn)>0. Suppose{xn}is the sequence generated by (1.5).

IfJis weakly sequentially continuous, then{xn}converges weakly to some fixed point ofT.

Proof. As in the proof ofProposition 3.1, we know that{xn}and{Txn}are bounded. Put r=supnN∪{0}{xn,Txn}. SinceEis a uniformly smooth Banach space,Eis a uni- formly convex Banach space (see [17,18] for more details). Therefore, byProposition 2.1, there exists a continuous, strictly increasing, and convex functiong: [0,)[0,) with g(0)=0 such that

λx+ (1λ)y2λx2+ (1λ)y2λ(1λ)gxy (3.8)

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for eachx,yBr= {zE:zr}andλwith 0λ1. LetpF(T). We have Vp,xn+1

=Vp,ΠCJ1αnJxn+1αn JTxn

Vp,J1αnJxn+1αn JTxn

= p22p,αnJxn+1αn JTxn

+αnJxn+1αn JTxn2

p2n p,Jxn

21αn

p,JTxn +αnxn2+1αnTxn2αn

1αn

gJxnJTxn

=αnVp,xn

+1αn

Vp,Txn

αn 1αn

gJxnJTxn

Vp,xn

αn

1αngJxnJTxn,

(3.9)

and hence

αn 1αn

gJxnJTxnVp,xn

Vp,xn+1

. (3.10)

Since{V(p,xn)}converges and lim infn→∞αn(1αn)>0, it follows that

nlim→∞gJxnJTxn=0. (3.11) Then the properties ofgyield that

nlim→∞JxnJTxn=0. (3.12)

SinceJ1is uniformly norm-to-norm continuous on bounded sets, we obtain

nlim→∞xnTxn=nlim

→∞J1Jxn

J1JTxn=0. (3.13) This implies that if there exists a subsequence{xni}of{xn}such thatxnivfor some vE, then, by the definition ofT,vis a fixed point ofT.

Letun=ΠF(T)xnfor eachnN∪ {0}. It follows from (2.9) that unz,JxnJun

0 (3.14)

for eachzF(T). Let{xni}be a subsequence of{xn}such that{xni}converges weakly tov. Then we havevF(T). By (3.14), we have

univ,JxniJuni

0. (3.15)

FromProposition 3.1, we know that{un}converges strongly to someuF(T) andJ is weakly sequentially continuous. Lettingi→ ∞, we have

uv,JvJu0. (3.16)

On the other hand, from the monotonicity ofJ, we have

uv,JuJv0. (3.17)

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Combining this with (3.16), we have

uv,JuJv =0. (3.18)

Using the strict convexity ofE, we obtain u=v. Therefore,{xn}converges weakly to

u=limn→∞ΠF(T)xn. This completes the proof.

Next, we also consider the strong convergence of (1.5). We can prove the following theorem without the assumption of “weakly sequentially continuous” in the duality map- pingJ.

Theorem3.3. LetEbe a uniformly convex and uniformly smooth Banach space, letCbe a nonempty closed convex subset ofE, letTbe a relatively nonexpansive mapping fromCinto itself, and let{αn}be a sequence of real numbers such that0αn1andlim infn→∞αn(1 αn)>0. Suppose{xn}is the sequence generated by (1.5). If the interior ofF(T)is nonempty, then{xn}converges strongly to some fixed point ofT.

Proof. Since the interior ofF(T) is nonempty, there existpF(T) andr >0 such that

p+rhF(T) (3.19)

wheneverh1. By (2.6), we have, for anyuF(T), Vu,xn

=Vxn+1,xn

+Vu,xn+1

+ 2xn+1u,JxnJxn+1

. (3.20)

This implies

xn+1u,JxnJxn+1 +1

2Vxn+1,xn

=1 2

Vu,xn

Vu,xn+1. (3.21) We also have

xn+1p,JxnJxn+1

=xn+1(p+rh) +rh,JxnJxn+1

=xn+1(p+rh),JxnJxn+1

+rh,JxnJxn+1. (3.22) On the other hand, sincep+rhF(T), as in the proof ofProposition 3.1, we have that

Vp+rh,xn+1

Vp+rh,xn

. (3.23)

From (3.21), this inequality is equivalent to 0

xn+1(p+rh),JxnJxn+1 +1

2Vxn+1,xn

. (3.24)

Then, by (3.21), we have rh,JxnJxn+1

xn+1p,JxnJxn+1 +1

2Vxn+1,xn

=1 2

Vp,xn

Vp,xn+1 ,

(3.25)

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and hence

h,JxnJxn+1

1 2r

Vp,xn

Vp,xn+1

. (3.26)

Sincehwithh1 is arbitrary, we have JxnJxn+1 1

2r

Vp,xn

Vp,xn+1

. (3.27)

So, ifn > m, then

JxmJxn=JxmJxm+1+Jxm+1− ··· −Jxn1+Jxn1Jxn

n1 i=m

JxiJxi+1 1 2r

n1 i=m

Vp,xi

Vp,xi+1

= 1 2r

Vp,xm

Vp,xn .

(3.28)

We know that{V(p,xn)}converges. So,{Jxn}is a Cauchy sequence. SinceEis complete, {Jxn}converges strongly to some point inE. SinceEhas a Fr´echet differentiable norm, thenJ1is continuous onE. Hence,{xn}converges strongly to some pointuinC. As in the proof ofTheorem 3.2, we also have thatxnTxn0. So, we haveuF(T), where

u=limn→∞ΠF(T)xn.

4. Applications

In this section, using Theorems3.2and3.3, we give some applications. We first consider the problem of weak convergence concerning nonexpansive mappings in a Hilbert space.

Theorem4.1 (Browder and Petryshyn [2]). LetCbe a nonempty closed convex subset of a Hilbert spaceH, letT be a nonexpansive mapping fromC into itself such thatF(T)is nonempty, and letλbe a real number such that0< λ <1. Suppose that{xn}is given by x0Cand

xn+1=λxn+ (1λ)Txn, n=0, 1, 2,.... (4.1) Then{xn}converges weakly touinF(T), whereu=limn→∞PF(T)xnandPF(T)is the metric projection fromContoF(T).

Proof. Letαn=λfor eachnN∪ {0}. It is clear that lim infn→∞αn(1αn)=λ(1λ)>0.

We show that ifT is nonexpansive, thenT is relatively nonexpansive. It is obvious that F(T)F(T). Ifˆ uF(Tˆ ), then there exists{xn} ⊂Csuch thatxnuandxnTxn0.

SinceTis nonexpansive,Tis demiclosed. So, we haveu=Tu. This impliesF(T)=F(Tˆ ).

Further, in a Hilbert spaceH, we know that

V(x,y)= xy2 (4.2)

for everyx,yH. So,TxT yxyis equivalent toV(Tx,T y)V(x,y). There- fore,Tis relatively nonexpansive. UsingTheorem 3.2, we obtain the desired result.

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We also consider the strong convergence concerning nonexpansive mappings in a Hilbert space. For related results, see Moreau [11], and Kirk and Sims [6].

Theorem4.2. LetCbe a nonempty closed convex subset of a Hilbert spaceH, letT be a nonexpansive mapping fromCinto itself, and letλ be a real number such that0< λ <1.

Suppose that{xn}is given byx0Cand

xn+1=λxn+ (1λ)Txn, n=0, 1, 2,.... (4.3) If the interior ofF(T)is nonempty, then{xn}converges strongly touinF(T), whereu= limn→∞PF(T)xnandPF(T)is the metric projection fromContoF(T).

Next, we apply Theorems3.2and3.3to the convex feasibility problem. Before giving them, we introduce the following lemma which was proved by Reich [12].

Lemma 4.3 (Reich [12]). Let E be a uniformly convex Banach space with a uniformly Gˆateaux-differentiable norm, let{Ci}mi=1be a finite family of closed convex subsets ofE, and letΠibe the generalized projection fromEontoCifor eachi=1, 2,...,m. Then

Vp,ΠmΠm1···Π2Π1xV(p,x) (4.4) for eachpF(Πˆ mΠm1···Π2Π1),xE, andF(Πˆ mΠm1···Π2Π1)= ∩mi=1Ci.

As direct consequences ofLemma 4.3and Theorems3.2 and3.3, we can prove the following two results.

Theorem4.4. LetEbe a uniformly convex and uniformly smooth Banach space, let{Ci}mi=1

be a finite family of closed convex subsets ofEsuch thatmi=1Ciis nonempty, letΠibe the generalized projection fromEontoCifor eachi=1, 2,...,m, and let{αn}be a sequence of real numbers such that0αn1andlim infn→∞αn(1αn)>0. Suppose that{xn}is given byx0Eand

xn+1=J1αnJxn+1αn

JΠmΠm1···Π2Π1xn

, n=0, 1, 2,.... (4.5) IfJ is weakly sequentially continuous, then {xn} converges weakly tou inmi=1Ci, where u=limn→∞Πmi=1CixnandΠmi=1Ciis the generalized projection fromEontomi=1Ci.

Proof. PutT=ΠmΠm1···Π2Π1. It is clear thatF(T)F(T) andˆ mi=1CiF(T). By Lemma 4.3, we have that T is a relatively nonexpansive mapping and F(T)= ∩mi=1Ci. ApplyingTheorem 3.2,{xn}converges weakly tou=limn→∞Πmi=1Cixn. Theorem4.5. LetEbe a uniformly convex and uniformly smooth Banach space, let{Ci}mi=1

be a finite family of closed convex subsets ofE, letΠibe the generalized projection fromEonto Cifor eachi=1, 2,...,m, and let{αn}be a sequence of real numbers such that0αn1 andlim infn→∞αn(1αn)>0. Suppose that{xn}is given byx0Eand

xn+1=J1αnJxn+1αn

JΠmΠm1···Π2Π1xn

, n=0, 1, 2,.... (4.6) If the interior of mi=1Ci is nonempty, then{xn} converges strongly touinmi=1Ci, where u=limn→∞Πmi=1CixnandΠmi=1Ciis the generalized projection fromEontomi=1Ci.

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LetAbe a multivalued operator with the domainD(A)= {xE:Ax= ∅}and the graphG(A)= {(x,x)E×E:xAx}. The operatorAis said to bemonotoneif

xy,xy0 for eachx,x,y,yG(A). (4.7) The operatorAis maximal monotone ifAis monotone, and for any monotone operatorB fromEtoEwithG(A)G(B), we haveA=B. We know that ifAis maximal monotone, thenA10 is closed and convex. The following result is also well known.

Theorem4.6 (Rockafellar [15]). LetEbe a reflexive, strictly convex, and smooth Banach space and letAbe a monotone operator from Eto E. ThenAis maximal if and only if R(J+rA)=Efor allr >0.

LetEbe a reflexive, strictly convex, and smooth Banach space and letAbe a maximal monotone operator fromEtoE. UsingTheorem 4.6and the strict convexity ofE, we obtain that for everyr >0 andxE, there exists a uniquexrD(A) such that

JxJxr+rAxr. (4.8)

IfJrx=xr, then we can define a single-valued mappingJr:ED(A) byJr=(J+rA)1J.

Such a Jr is called theresolvent of A. We know that Jr is relatively nonexpansive (see [10, 12, 14]), andA10=F(Jr) for all r >0 (see [17,18]). As direct consequences of Theorems3.2and3.3, we also have the following two results.

Theorem4.7. LetEbe a uniformly convex and uniformly smooth Banach space, letAbe a maximal monotone operator fromEtoEsuch thatA10is nonempty, letJrbe the resolvent ofA, where r >0, and let {αn}be a sequence of real numbers such that0αn1and lim infn→∞αn(1αn)>0. Suppose the sequence{xn}is given byx0Eand

xn+1=J1αnJxn+1αn JJrxn

, n=0, 1, 2,.... (4.9) IfJ is weakly sequentially continuous, then{xn}converges weakly touinA10, whereu= limn→∞ΠA10xnandΠA10is the generalized projection fromEontoA10.

Theorem4.8. LetEbe a uniformly convex and uniformly smooth Banach space, letAbe a maximal monotone operator fromEtoE, letJr be the resolvent ofA, wherer >0, and let{αn}be a sequence of real numbers such that0αn1andlim infn→∞αn(1αn)>0.

Suppose the sequence{xn}is given byx0Eand xn+1=J1αnJxn+1αn

JJrxn

, n=0, 1, 2,.... (4.10) If the interior ofA10is nonempty, then{xn}converges strongly touinA10, whereu= limn→∞ΠA10xnandΠA10is the generalized projection fromEontoA10.

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[13] ,Weak convergence theorems for nonexpansive mappings in Banach spaces, J. Math. Anal.

Appl.67(1979), no. 2, 274–276.

[14] ,A weak convergence theorem for the alternating method with Bregman distances, Theory and Applications of Nonlinear Operators of Accretive and Monotone Type (A. G. Kartsatos, ed.), Lecture Notes in Pure and Appl. Math., vol. 178, Marcel Dekker, New York, 1996, pp. 313–318.

[15] R. T. Rockafellar,On the maximality of sums of nonlinear monotone operators, Trans. Amer.

Math. Soc.149(1970), 75–88.

[16] , Monotone operators and the proximal point algorithm, SIAM J. Control Optim.14 (1976), no. 5, 877–898.

[17] W. Takahashi,Convex Analysis and Approximation Fixed Points, Yokohama Publishers, Yoko- hama, 2000 (Japanese).

[18] ,Nonlinear Functional Analysis. Fixed Point Theory and Its Applications, Yokohama Pub- lishers, Yokohama, 2000.

[19] H. K. Xu,Inequalities in Banach spaces with applications, Nonlinear Anal.16(1991), no. 12, 1127–1138.

Shin-ya Matsushita: Department of Mathematical and Computing Sciences, Tokyo Institute of Technology, Oh-Okayama, Meguro-ku, Tokyo 152-8552, Japan

E-mail address:[email protected]

Wataru Takahashi: Department of Mathematical and Computing Sciences, Tokyo Institute of Tech- nology, Oh-Okayama, Meguro-ku, Tokyo 152-8552, Japan

E-mail address:[email protected]

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Advances in Difference Equations

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