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Fixed points of demicontinuous nearly Lipschitzian mappings in Banach spaces

D.R. Sahu

Abstract. We introduce the classes of nearly contraction mappings and nearly asymp- totically nonexpansive mappings. The class of nearly contraction mappings includes the class of contraction mappings, but the class of nearly asymptotically nonexpansive mappings contains the class of asymptotically nonexpansive mappings and is contained in the class of mappings of asymptotically nonexpansive type. We study the existence of fixed points and the structure of fixed point sets of mappings of these classes in Ba- nach spaces. Our results improve various celebrated results of fixed point theory in the context of demicontinuity.

Keywords: asymptotically nonexpansive mapping, Banach contraction principle, fixed point, Lipschitzian mapping, nearly Lipschitzian mapping, nearly asymptotically non- expansive mapping, uniformly convex Banach space

Classification: 47H10, 47H15, 47H09, 47H17, 65J15

1. Introduction

LetC be a nonempty subset of a Banach spaceX andT :C→C a nonlinear mapping. The mappingT is said to beLipschitzianif for eachn∈N, there exists a constantkn>0 such that

kTnx−Tnyk ≤knkx−yk for all x, y∈C.

A Lipschitzian mapping T is called uniformly k-Lipschitzian if kn = k for all n∈Nandasymptotically nonexpansive if limn→∞kn= 1, respectively.

By an asymptotic fixed point theorem for the operatorT, we mean a theorem which guarantees the existence of a fixed point ofT, if the iterativeTnpossesses certain properties. The well known Browder [5]- G¨ohde [8]- Kirk [12] theorem is a central asymptotic fixed point theorem for nonexpansive mappings in Banach spaces, which was established in 1965.

The asymptotic fixed point theory has a fundamental role in nonlinear func- tional analysis (cf. [6]). This theory has been studied by many authors (see, e.g.

[3], [4], [10], [11], [13], [15], [22]) for various classes of nonlinear mappings (e.g. Lip- schitzian, uniformlyk-Lipschitzian and non-Lipschitzian mappings). A branch of this theory related to asymptotically nonexpansive mappings has been developed

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by many authors (see, e.g. [7], [9], [12], [14]–[20], [22]) in Banach spaces with suitable geometrical structures. Asymptotic nonexpansiveness is an interesting aspect of asymptotically nonexpansive mappings. It is well known that for cer- tain applications the continuity assumption becomes a rather strong condition. In view of this, the following natural question arises: Does there exist a class of (not necessarily continuous) mappings more general than the class of asymptotically nonexpansive mappings (which have asymptotic nonexpansiveness)?

Motivated and inspired by the above question, we will consider now a more general situation:

LetC be a nonempty subset of a Banach spaceX and fix a sequence{an} in [0,∞) with an → 0. A mapping T : C → C will be called nearly Lipschitzian with respect to{an} if for eachn∈N, there exists a constantkn≥0 such that (1.1) kTnx−Tnyk ≤kn(kx−yk+an) for all x, y∈C.

The infimum of constantskn for which (1.1) holds will be denoted by η(Tn) and callednearly Lipschitz constant. Notice that

η(Tn) = sup

kTnx−Tnyk

kx−yk+an :x, y∈C, x6=y

.

A nearly Lipschitzian mappingT with sequence{(an, η(Tn))} is said to be (i) nearly contraction ifη(Tn)<1 for alln∈N,

(ii) nearly nonexpansive ifη(Tn)≤1 for alln∈N,

(iii) nearly asymptotically nonexpansive ifη(Tn)≥1 for all n∈Nand limn→∞η(Tn)≤1,

(iv) nearly uniformly k-Lipschitzian ifη(Tn)≤kfor alln∈N, (v) nearly uniform k-contraction ifη(Tn)≤k <1 for alln∈N.

Example 1.1. LetX =R,C= [0,1] andT :C→C be a mapping defined by T x=

( 1

2 if x∈[0,12], 0 if x∈(12,1].

Clearly,T is discontinuous and non-Lipschitzian. However, it is nearly nonex- pansive. Indeed, for a sequence{an}witha1= 12 andan→0, we have

kT x−T yk ≤ kx−yk+a1 for all x, y ∈C and

kTnx−Tnyk ≤ kx−yk+an for all x, y∈C and n≥2, since

Tnx= 1

2 for all x∈[0,1] and n≥2.

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Remark 1.2. IfCis a bounded domain of an asymptotically nonexpansive map- ping T, then T is nearly nonexpansive. In fact, for all x, y ∈ C and n ∈N, we have

kTnx−Tnyk ≤knkx−yk

≤ kx−yk+ (kn−1)kx−yk

≤ kx−yk+ (kn−1) diam(C).

Remark 1.3. IfC is a bounded domain of a nearly asymptotically nonexpan- sive mapping T, then T is mapping of asymptotically nonexpansive type. To see this, let T be a nearly asymptotically nonexpansive mapping with sequence {(an, η(Tn))}. Then

kTnx−Tnyk ≤η(Tn)(kx−yk+an) for all x, y∈C, n∈N which implies that

sup

xC

[kTnx−Tnyk − kx−yk]≤(η(Tn)−1) diam(C) +anη(Tn)

for all y∈C and n∈N. Hence limn→∞(supxC[kTnx−Tnyk − kx−yk])≤0 for all y∈C.

We observe from Remarks 1.2 and 1.3 that the classes of nearly nonexpan- sive mappings and nearly asymptotically nonexpansive mappings are intermediate classes between the class of asymptotically nonexpansive mappings (cf. [7]) and that of mappings of asymptotically nonexpansive type (cf. [13]). Indeed, we have the following implications:

asymptotically nonexpansive

nearly nonexpansive

nearly asymptotically nonexpansive

asymptotically nonexpansive type.

The purpose of this paper is to develop asymptotic fixed point theory for a more general class of demicontinuous nearly Lipschitzian mappings in Banach spaces. It is shown here that the Banach contraction principle ([1]) and result of Weissinger ([21]) can be improved for demicontinuous nearly contraction map- pings in Banach spaces. It is also shown that the continuity of nonexpansive mappings from well known results of Browder [5]- G¨ohde [8]- Kirk [12] can be weakened to demicontinuity for nearly nonexpansive mappings in uniformly con- vex Banach spaces.

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2. Preliminaries

LetC be a nonempty subset of a Banach spaceX andT :C→C a mapping.

T is said to be demicontinuous if, whenever a sequence {xn} in C converges strongly tox∈C then{T xn}converges weakly to T x.

LetCbe a nonempty closed convex subset of a uniformly convex Banach space X,{xn}a bounded sequence inX andr:C→[0,∞) a functional defined by

r(x) = lim

n→∞kxn−xk, x∈C.

The infimum ofr(·) overCis calledasymptotic radius of{xn} with respect toC and is denoted byr(C,{xn}). A pointz∈C is said to be an asymptotic centre of the sequence{xn}with respect to C if

r(z) = min{r(x) :x∈C}.

The set of all asymptotic centers is denoted byA(C,{xn}).

It is well known that every bounded sequence {xn} in a uniformly convex Banach spaceX has a unique asymptotic centre with respect to any closed convex subsetCofX, i.e.,

A(C,{xn}) ={z}

and

nlim→∞kxn−zk< lim

n→∞kxn−xk for all x6=z.

The following lemma is well known (see [2]):

Lemma 2.1. Let C be a nonempty closed convex subset of a uniformly convex Banach space X, {xn} a bounded sequence in X and A(C,{xn}) ={z}. Then we have

({yn} ⊂C andr(ym)→r(C,{xn})as m→ ∞)⇒(ym→z asm→ ∞).

The following lemma is crucial for our main results:

Lemma 2.2. LetC be a nonempty subset of a Banach space and letT :C→C be demicontinuous. Suppose thatTnu→x asn→ ∞for someu, x ∈C. Then x is an element of F(T), the set of fixed points of T.

Proof: Let un=Tnufor all n ∈N. Then {un} and {T un} converge strongly to x. By demicontinuity ofT,{T un} converges weakly toT x. By uniqueness

of weak limit of{T un}, we havex=T x.

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Lemma 2.3. Let C be a nonempty closed convex subset of a uniformly convex Banach spaceX and T :C →C a demicontinuous nearly Lipschitzian mapping with sequence{(an, η(Tn))}such that limn→∞η(Tn)≤1. If {yn} is a bounded sequence inC such that

mlim→∞( lim

n→∞kyn−Tmynk) = 0 and A(C,{yn}) ={x}, thenx is a fixed point of T.

Proof: We define a sequence {xn} inC by xm=Tmx, m∈N. Form, n∈N, we have

(2.1) kxm−ynk ≤ kTmx−Tmynk+kTmyn−ynk

≤η(Tm)(kx−ynk+am) +kTmyn−ynk.

Define a functionalr:C→R+ by r(y) = lim

n→∞kyn−yk, y∈C.

Then from (2.1) r(xm) = lim

n→∞kyn−xmk

≤η(Tm)(r(x) +am) + lim

n→∞kTmyn−ynk →r(x) as m→ ∞.

Hence Lemma 2.1 gives that Tmx → x. By Lemma 2.2 we conclude that

x ∈F(T).

3. The principle of nearly contraction mappings for existence of fixed points

We develop existence and uniqueness of fixed points of demicontinuous nearly Lipschitzian mappings in a general Banach space.

Theorem 3.1. Let C be a nonempty closed subset of a Banach space X and T :C→C a demicontinuous nearly Lipschitzian mapping with sequence

{(an, η(Tn))}. Suppose η(T) = limn→∞[η(Tn)]1/n < 1. Then we have the following:

(a) T has a unique fixed pointx∈C;

(b) for eachx0∈C, the sequence{Tnx0}converges strongly tox; (c) kTnx0−xk ≤(kx0−T x0k+M)P

i=nη(Ti)for all n∈N, whereM = supnNan.

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Proof: (a) Fix x0 ∈ X and let xn = Tnx0, n ∈ N. Set dn := kxn−xn+1k.

Hence

dn=kTnx0−Tn+1x0k ≤η(Tn)(kx0−T x0k+an) which implies that

X

n=1

dn≤(d0+M)

X

n=1

η(Tn)

for some M > 0, since limn→∞an = 0. By the Root Test for convergence of series, if η(T) = limn→∞[η(Tn)]1/n < 1, then P

n=1η(Tn) < ∞. It follows that P

n=1dn < ∞ and hence {xn} is a Cauchy sequence. Thus, limn→∞xn exists (sayx ∈C). By Lemma 2.2, x is a fixed point ofT. Let wbe another fixed point ofT. Then

∞=

X

n=1

kx−wk=

X

n=1

kTnx−Tnwk

X

n=1

η(Tn)(kx−wk+an)

≤(kx−wk+M)

X

n=1

η(Tn)<∞, a contradiction. Thus,T has a unique fixed pointx∈C.

(b) It follows from part (a).

(c) Ifm∈N, we have

kxn−xn+mk=kTnx0−Tn+mx0k

n+m1

X

i=n

kTix0−Ti+1x0k

n+m1

X

i=n

η(Ti)(kx0−T x0k+ai)

≤(kx0−T x0k+M)

n+m1

X

i=n

η(Ti).

Lettingm→ ∞, we obtain

kxn−xk ≤(kx0−T x0k+M)

X

i=n

η(Ti).

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Remark 3.2. In case of a nearly uniformly k-Lipschitzian mapping, we have

nlim→∞[η(Tn)]1n = lim

n→∞[k]n1 = 1.

Therefore, the assumptions of Theorem 3.1 do not hold for nearly uniformly k- Lipschitzian (non-Lipschitzian) mappings.

Remark 3.3. Theorem 3.1 generalizes Banach contraction principle ([1]). Par- ticularly, it generalizes the result of Weissinger ([21]) in the following ways:

(1) T is more general than the mapping considered by Weissinger [21], (2) T may not be continuous.

The well known Banach contraction principle asserts that every contraction mapping has a unique fixed point. But it is not true for nearly contraction map- pings. Let us consider another condition which only guarantees the uniqueness of fixed points of nearly contractions.

Theorem 3.4. Let C be a nonempty closed subset of a Banach space and T :C→C a nearly contraction with sequence{(an, η(Tn))} such that

limn→∞ an

η(Tn)−1−1 = 0. ThenF(T)has at most one element.

Proof: Letxandybe two distinct elements in F(T). Then kx−yk=kTnx−Tnyk ≤η(Tn)(kx−yk+an) which implies that

kx−yk ≤ an

η(Tn)1−1 →0 as n→ ∞.

HenceT has at most one fixed point.

Corollary 3.5. Let C be a nonempty closed subset of a Banach space andT : C→C a nearly uniformk-contraction. ThenF(T)has at most one element.

A convex subsetC of a Banach spaceX is said to have theapproximate fixed point property (AFPP) for a nonexpansive mappingT :C→Cif

inf{kx−T xk:x∈C}= 0,

i.e., there exists a sequence{xn}in C such that limn→∞kxn−T xnk= 0. Such a sequence{xn}is calledapproximate fixed point sequence ofT.

It is well known that every closed convex bounded subset C of X has ap- proximating fixed point property (AFPP) for nonexpansive mappings. However,

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no analog of this fact is known for nearly nonexpansive mappings. More pre- cisely, let T be a nonexpansive self-mapping of a closed convex bounded subset C of a Banach space with fixed element x0 ∈C, {λn} a sequence in (0,1) with limn→∞λn= 1 and let the mappingTn:C→C be defined by

Tnx=λnTnx+ (1−λn)x0, x∈C.

Then for each n ∈ N, Tn has exactly one fixed point by Banach contraction principle.

The following result (see Theorem 3.7) shows that Banach spaces do not have AFPP even for nearly contraction mappings.

Proposition 3.6. If T :C→C is a nearly contraction mapping with sequence {(an, η(Tn))}, then

kTnx−Tnyk ≤max

kx−yk, an η(Tn)1−1

for all x, y∈C and n∈N. Proof: Note that

η(Tn)(kx−yk+an)≤ kx−yk ⇔ kx−yk ≥ an η(Tn)1−1. Ifkx−yk ≥ η(Tnan

)−11, then

kTnx−Tnyk ≤η(Tn)(kx−yk+an)≤ kx−yk.

Ifkx−yk ≤ η(Tna)n−11, then

kTnx−Tnyk ≤η(Tn)(kx−yk+an)≤ an η(Tn)1−1.

The proposition follows.

Theorem 3.7. Let C be a nonempty closed convex bounded subset of a Ba- nach space X and T : C → C a nearly contraction mapping with sequence {(an, η(Tn))}such that limn→∞ an

η(Tn)−11 = 0. Thenlimn→∞(inf{kx−Tnxk: x∈C}) = 0, i.e., there exists a sequence{xm} inC such that

n→∞lim ( lim

m→∞kxm−Tnxmk) = 0.

Proof: Let{tn} be a real sequence in (0,1) such that limn→∞tn= 1. For each n∈Nand someu∈C, define

Tnx= (1−tn)u+tnTnx, x∈C.

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Observe that

kTnx−Tnyk ≤tnkTnx−Tnyk

≤max

tnkx−yk, tnan

η(Tn)1−1

for all x, y∈C and n∈N. Therefore,

kTnx−Tnyk ≤max

tnkTnℓ−1x−Tnℓ−1yk, tnan η(Tn)1−1

≤max

tnmax

tnkTnℓ−2x−Tnℓ−2yk, tnan

η(Tn)1−1

, tnan

η(Tn)1−1

= max

t2nkT2x−T2yk, tnan η(Tn)−1−1

≤. . .

≤max

tnkx−yk, tnan η(Tn)1−1

.

SinceC is bounded and limℓ→∞tn= 0 forn∈N, kTnx−Tnℓ+1xk ≤max

tn diam(C), tnan η(Tn)1−1

→ tnan

η(Tn)1−1 as ℓ→ ∞.

This gives that inf

kx−Tnxk:x∈C

≤tn an η(Tn)1−1. Thus

kx−Tnxk ≤tn1kx−Tnxk+tn1(1−tn)kx−uk

≤tn1kx−Tnxk+tn1(1−tn) diam(C) which implies that

inf

kx−Tnxk:x∈C

≤ an

η(Tn)1−1 +tn1(1−tn) diam(C).

Therefore, the conclusion follows.

The next result is more general in nature. It demonstrates that every demi- continuous nearly Lipschitzian mapping with sequence {(an, η(Tn))} such that limn→∞η(Tn)≤1 has a fixed point in a Banach space under geometric structure

“uniform convexity”.

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Theorem 3.8. LetCbe a nonempty closed convex subset of a uniformly convex Banach spaceX and T :C →C a demicontinuous nearly Lipschitzian mapping with sequence {(an, η(Tn))} such that limn→∞η(Tn) ≤1. Then the following statements are equivalent:

(a) T has a fixed point;

(b) there exists a bounded sequence{Tnx0}inC;

(c) there exists a bounded sequence{yn} inC such that

mlim→∞( lim

n→∞kyn−Tmynk) = 0.

Proof: (a)⇒(b) and (a)⇒(c) follow easily.

(b)⇒(a). Let us assume that the sequence{Tnx0}is bounded andA(C,{Tnx0})

={z}. Since, forn≥m≥1

kTnx0−Tmzk ≤η(Tm)(kTnmx0−zk+am), it follows that

nlim→∞kTnx0−Tmzk ≤η(Tm)( lim

n→∞kTnx0−zk+am).

Hence r(Tmz) → r(C,{Tnx0}) as m → ∞. By applying Lemma 2.1 we get Tmz→z asm→ ∞. This shows by Lemma 2.2 thatz is a fixed point ofT. (c)⇒(a). Let{yn}be a bounded sequence inCsuch that limm→∞(limn→∞kyn− Tmynk) = 0. The result follows from Lemma 2.3.

Combining Theorems 3.7 and 3.8, we show that the condition η(Tnan

)−11 → 0 also assures the existence of fixed points of nearly contraction mappings in uniformly convex Banach space.

Theorem 3.9. LetCbe a nonempty closed convex bounded subset of a uniformly convex Banach space X and T : C → C a demicontinuous nearly contraction mapping with sequence{(an, η(Tn))}such thatlimn→∞ an

η(Tn)−11 = 0. ThenT has a unique fixed point.

Proof: By Theorem 3.7, there exists a sequence{yn} inC such that

limm→∞(limn→∞kyn−Tmynk) = 0. We conclude the result by Theorem 3.8.

The following result generalizes the result of Goebel and Kirk [7].

Corollary 3.10. LetCbe a nonempty closed convex subset of a uniformly con- vex Banach space X and T : C → C a demicontinuous nearly asymptotically nonexpansive mapping. If there is a pointx0 ∈C such that{Tnx0} is bounded, thenT has a fixed point inC.

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4. Structure of set of fixed points of demicontinuous nearly Lipschitzian mappings

Theorem 4.1. LetCbe a nonempty closed convex subset of a uniformly convex Banach spaceX and T :C →C a demicontinuous nearly Lipschitzian mapping with sequence {(an, η(Tn))} such that limn→∞η(Tn) = 1. ThenF(T)is closed and convex.

Proof: Closedness ofF(T): Let{zn} be a sequence inF(T) such thatzn→z.

Then it remains to show thatz∈F(T). Note that

kzn−Tnzk=kTnzn−Tnzk ≤η(Tn)(kzn−zk+an), which implies that

nlim→∞kzn−Tnzk= 0.

Since

kz−Tnzk ≤ kz−znk+kzn−Tnzk, we have

nlim→∞kz−Tnzk= 0.

By Lemma 2.2, we conclude thatz∈F(T), i.e.,F(T) is closed.

Convexity ofF(T): Letx, y∈F(T) such thatx6=y. Letz= 12(x+y). Then kTnz−xk=kTnz−Tnxk ≤η(Tn)(kz−xk+an)≤η(Tn)(1

2kx−yk+an) and

kTnz−yk ≤η(Tn)(1

2kx−yk+an).

Thus,

kTnz−zk=k1

2(Tnz−x) +1

2(Tnz−y)k

≤η(Tn)(1

2kx−yk+an)

1−δ

kx−yk η(Tn)(12kx−yk+an)

for alln∈N, whereδis modulus of convexity ofX. It follows that limn→∞kTnz−

zk= 0 and hencez∈F(T) by Lemma 2.2.

Corollary 4.2. LetCbe a nonempty closed convex subset of a uniformly convex Banach space X and T : C →C a demicontinuous nearly contraction mapping with sequence{(an, η(Tn))}. ThenF(T)is closed and convex.

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Corollary 4.3. LetC be a nonempty closed convex subset of a uniformly con- vex Banach space X and T : C → C a demicontinuous nearly asymptotically nonexpansive mapping. ThenF(T)is closed and convex.

Recall that a subsetF ⊆C is said to be a 1-local retract ofC if every family {Bi:i∈I} of closed balls centered at points ofF has the property:

\

iI

Bi

∩C6=∅=⇒

\

iI

Bi

∩F 6=∅.

It is easy to see that a 1-local retract of a convex set is metrically convex and 1-local retract of a closed set must itself be closed.

Finally, we show that the fixed point set of a nearly Lipschitzian mapping is a 1-local retract of its domain.

Theorem 4.4. LetCbe a nonempty closed convex subset of a Banach spaceX andT :C→C a nearly Lipschitzian mapping with sequence{(an, η(Tn))}such thatlimn→∞η(Tn)≤1. Suppose that each closed convex subsetD of C has the fixed point property forT. ThenF(T)is a(nonempty) 1-local retract of C.

Proof: By assumptionF(T)6=∅. Let{B(xi, ri) :i∈I}be a family closed balls centered at pointsxi∈F(T).

Suppose S0 =

\

iI

B(xi, ri)

∩C6=∅, r({Tnx}, xi) = lim

n→∞kTnx−xik, x∈C and

S1={x∈C:r({Tnx}, xi)≤ri}.

Letx∈S0; then

r({Tnx}, xi) = lim

n→∞kTnx−xik

= lim

n→∞kTnx−Tnxik

≤ lim

n→∞η(Tn)(kx−xik+an)

≤ kx−xik

≤ri. It follows thatx∈S1, i.e.,S0⊆S1 6=∅.

Letx, y∈S1 be such thatz= (1−t)x+ty,t∈[0,1]. Now r({Tnz}, xi)≤ lim

n→∞kTnz−xik ≤ kz−xik

≤(1−t)kx−xik+tky−xik

≤ri,

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hencez∈S1. SoS1 is convex.

Now, let {ym} be a sequence inS1 such that ym →y as m→ ∞. We claim thaty∈S1. We have

r({Tnym}, xi)≤ri for all i∈I.

Hence for eachm∈N,

n→∞lim kTny−xik ≤ lim

n→∞kTny−Tnymk+ lim

n→∞kTnym−xik

≤ lim

n→∞η(Tn)(ky−ymk+an) +ri

≤ ky−ymk+ri

≤ri as m→ ∞,

it follows thaty ∈S1. Hence S1 is a nonempty closed and convex subset of C.

Moreover,T is self-mapping onS1. HenceS1∩F(T) is nonempty by assumption.

Letpbe an element ofS1∩F(T). Then

r({Tnp}, xi}) =r({p}, xi) =kp−xik ≤ri, it infers that

S1∩F(T)⊆S0∩F(T).

We note thatS0∩F(T)⊂S1∩F(T) sinceS0⊆S1. Thus,S0∩F(T) =S1∩F(T)

6=∅.

Acknowledgment. The author is grateful to the referee for constructive com- ments which led to improvement of an earlier version of this work.

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Department of Applied Mathematics, Shri Shankaracharya College of Engineering and Technology, Bhilai-490020, India

E-mail: [email protected]

(Received February 16, 2005,revised September 9, 2005)

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