http://www.aimspress.com/journal/Math
DOI:10.3934/math.2020335 Received: 06 March 2020 Accepted: 08 June 2020 Published: 17 June 2020
Research article
Fixed point results for dominated mappings in rectangular b-metric spaces with applications
Abdullah Shoaib1, Tahair Rasham2, Giuseppe Marino3, Jung Rye Lee4,∗ and Choonkil Park5,∗
1 Department of Mathematics and Statistics, Riphah International University, Islamabad 44000, Pakistan
2 Department of Mathematics, International Islamic University, H-10, Islamabad 44000, Pakistan
3 Dipartimento di Matematica e Informatica, Universita della Calabria, 87036, Arcavacata di Rende (CS), Italy
4 Department of Mathematics, Daejin University, Kyunggi 11159, Korea
5 Research Institute for Natural Sciences, Hanyang University, Seoul 04763, Korea
* Correspondence: Email: [email protected]; [email protected].
Abstract: In this paper, we establish some fixed point results forα-dominated mappings fulfilling new generalized locally ´Ciri´c type rational contraction conditions in complete rectangularb-metric space.
As an application, we establish the existence of fixed point of-dominated mappings in an ordered complete rectangularb-metric space. The notion of graph dominated mappings is introduced. Fixed point results with graphic contractions for such mappings are established.
Keywords:fixed point; complete rectangularb-metric space;α-dominated mapping; ´Ciri´c type rational contraction condition; partial order;-dominated mapping; graph dominated mapping Mathematics Subject Classification:46S40, 47H10, 54H25
1. Introduction and preliminaries
Let W be a set and H : W −→ W be a mapping. A pointw ∈ W is called a fixed point of H if w = Hw. Fixed point theory plays a fundamental role in functional analysis (see [15]). Shoaib [17]
introduced the concept ofα-dominated mapping and obtained some fixed point results (see also [1, 2]).
Georgeet al.[11] introduced a new space and called it rectangularb-metric space (r.b.m. space). The triangle inequality in theb-metric space was replaced by rectangle inequality. Useful results onr.b.m.
spaces can be seen in ( [5, 6, 8–10]). ´Ciri´c introduced new types of contraction and proved some metrical fixed point results (see [4]). In this article, we introduce ´Ciri´c type rational contractions for
α-dominated mappings inr.b.m.spaces and proved some metrical fixed point results. New interesting results in metric spaces, rectangular metric spaces andb-metric spaces can be obtained as applications of our results.
Definition 1.1. [11] Let U be a nonempty set. A function dlb : U × U → [0,∞) is said to be a rectangularb-metric if there existsb≥1 such that
(i)dlb(θ, ν)=dlb(ν, θ);
(ii)dlb(θ, ν)=0 if and only ifθ =ν;
(iii)dlb(θ, ν) ≤ b[dlb(θ,q)+dlb(q,l)+dlb(l, ν)] for allθ, ν ∈ U and all distinct pointsq,l ∈U r{θ, ν}.
The pair (U,dlb) is said a rectangularb-metric space (in short,r.b.m.space) with coefficientb.
Definition 1.2. [11] Let (U,dlb) be anr.b.m.space with coefficientb.
(i) A sequence{θn}in (U,dlb) is said to be Cauchy sequence if for eachε >0, there correspondsn0 ∈N such that for alln,m≥n0we havedlb(θm, θn)< εor limn,m→+∞dlb(θn, θm)= 0.
(ii) A sequence{θn}is rectangularb-convergent (for short, (dlb)-converges) toθif limn→+∞dlb(θn, θ)= 0.
In this caseθis called a (dlb)-limit of{θn}.
(iii) (U,dlb) is complete if every Cauchy sequence inU dlb-converges to a pointθ∈U.
Let $b, whereb ≥ 1, denote the family of all nondecreasing functions δb : [0,+∞) → [0,+∞) such that P+∞
k=1bkδkb(t) < +∞ and bδb(t) < t for all t > 0, where δkb is the kth iterate of δb. Also bn+1δnb+1(t)=bnbδb(δnb(t))< bnδnb(t).
Example 1.3. [11] Let U = N. Definedlb : U×U → R+∪ {0} such thatdlb(u,v) = dlb(v,u) for all u,v∈Uandα >0
dlb(u,v)=
0, ifu= v;
10α, ifu=1, v=2;
α, ifu∈ {1,2}andv∈ {3};
2α, ifu∈ {1,2,3}andv∈ {4};
3α, ifuorv<{1,2,3,4}andu,v.
Then (U,dlb) is anr.b.m.space withb=2> 1.Note that
d(1,4)+d(4,3)+d(3,2)= 5α <10α= d(1,2).
Thusdlb is not a rectangular metric.
Definition 1.4. [17] Let (U,dlb) be anr.b.m. space with coefficientb. LetS : U → U be a mapping andα:U×U → [0,+∞). IfA⊆U,we say that theS isα-dominated onA,wheneverα(i,S i)≥ 1 for alli∈A.IfA=U, we say thatS isα-dominated.
Forθ, ν∈U,a>0,we defineDlb(θ, ν) as
Dlb(θ, ν)= max{dlb(θ, ν), dlb(θ,Sθ).dlb(ν,Sν)
a+dlb(θ, ν) ,dlb(θ,Sθ),dlb(ν,Sν)}.
2. Main result
Now, we present our main result.
Theorem 2.1. Let (U,dlb) be a complete r.b.m. space with coefficient b, α : U ×U → [0,∞), S : U → U,{θn}be a Picard sequence and S be aα-dominated mapping on{θn}.Suppose that, for some δb ∈$b, we have
dlb(Sθ,Sν)≤δb(Dlb(θ, ν)), (2.1) for all θ, ν ∈ {θn} with α(θ, ν) ≥ 1. Then {θn} converges to θ∗ ∈ U. Also, if (2.1) holds for θ∗ and α(θn, θ∗)≥1for all n∈N∪ {0}, then S has a fixed pointθ∗in U.
Proof. Letθ0 ∈Ube arbitrary. Define the sequence{θn}byθn+1 =Sθnfor alln∈N∪{0}.We shall show that{θn}is a Cauchy sequence. Ifθn = θn+1,for somen∈N,thenθnis a fixed point ofS. So, suppose that any two consecutive terms of the sequence are not equal. SinceS : U → U be an α-dominated mapping on{θn},α(θn,Sθn)≥1 for alln∈N∪ {0}and thenα(θn, θn+1)≥1 for alln∈N∪ {0}.Now by using inequality (2.1), we obtain
dlb(θn+1, θn+2) = dlb(Sθn,Sθn+1)≤δb(Dlb(θn, θn+1))
≤ δb(max{dlb(θn, θn+1),dlb(θn, θn+1).dlb(θn+1, θn+2) a+dlb(θn, θn+1) , dlb(θn, θn+1),dlb(θn+1, θn+2)})
≤ δb(max{dlb(θn, θn+1),dlb(θn+1, θn+2)}).
If max{dlb(θn, θn+1),dlb(θn+1, θn+2)}= dlb(θn+1, θn+2),then
dlb(θn+1, θn+2) ≤ δb(dlb(θn+1, θn+2))
≤ bδb(dlb(θn+1, θn+2)).
This is the contradiction to the fact thatbδb(t)<tfor allt>0.So
max{dlb(θn, θn+1),dlb(θn+1, θn+2)}=dlb(θn, θn+1).
Hence, we obtain
dlb(θn+1, θn+2)≤ δb(dlb(θn, θn+1))≤δ2b(dlb(θn−1, θn)) Continuing in this way, we obtain
dlb(θn+1, θn+2)≤δnb+1(dlb(θ0, θ1)). (2.2) Suppose for somen,m∈Nwithm> n,we haveθn= θm. Then by (2.2)
dlb(θn, θn+1) = dlb(θn,Sθn)= dlb(θm,Sθm)=dlb(θm, θm+1)
≤ δm−nb (dlb(θn, θn+1))< bδb(dlb(θn, θn+1))
As dlb(θn, θn+1) > 0, so this is not true, because bδb(t) < t for all t > 0. Therefore, θn , θm for any n,m ∈N. Since P+∞
k=1bkδkb(t) < +∞, for someν ∈ N, the seriesP+∞
k=1bkδkb(δν−b 1(dlb(θ0, θ1))) converges.
Asbδb(t)< t,so
bn+1δnb+1(δν−b 1(dlb(θ0, θ1)))< bnδnb(δν−b 1(dlb(θ0, θ1))), for alln∈N.
Fixε >0.Then ε2 =ε0 >0.Forε0,there existsν(ε0)∈Nsuch that
bδb(δν(εb 0)−1(dlb(θ0, θ1)))+b2δ2b(δν(εb 0)−1(dlb(θ0, θ1)))+· · · < ε0 (2.3) Now, we suppose that any two terms of the sequence{θn}are not equal. Letn,m ∈ N withm > n >
ν(ε0).Now, ifm>n+2,
dlb(θn, θm) ≤ b[dlb(θn, θn+1)+dlb(θn+1, θn+2)+dlb(θn+2, θm)]
≤ b[dlb(θn, θn+1)+dlb(θn+1, θn+2)]+b2[dlb(θn+2, θn+3) +dlb(θn+3, θn+4)+dlb(θn+4, θm)]
≤ b[δnb(dlb(θ0, θ1))+δnb+1(dlb(θ0, θ1))]+b2[δnb+2(dlb(θ0, θ1))
+δnb+3(dlb(θ0, θ1))]+b3[δnb+4(dlb(θ0, θ1))+δnb+5(dlb(θ0, θ1))]+· · ·
≤ bδnb(dlb(θ0, θ1))+b2δnb+1(dlb(θ0, θ1))+b3δnb+2(dlb(θ0, θ1))+· · ·
= bδb(δn−1b (dlb(θ0, θ1)))+b2δ2b(δn−1b (dlb(θ0, θ1)))+· · · . By using (2.3), we have
dlb(θn, θm)
< bδb(δν(εb 0)−1(dlb(θ0, θ1)))+b2δ2b(δν(εb 0)−1(dlb(θ0, θ1)))+· · ·< ε0 < ε.
Now, ifm= n+2, then we obtain dlb(θn, θn+2)
≤ b[dlb(θn, θn+1)+dlb(θn+1, θn+3)+dlb(θn+3, θn+2)]
≤ b[dlb(θn, θn+1)+b[dlb(θn+1, θn+2)+dlb(θn+2, θn+4)+dlb(θn+4, θn+3)]
+dlb(θn+3, θn+2)]
≤ bdlb(θn, θn+1)+b2dlb(θn+1, θn+2)+bdlb(θn+2, θn+3)+b2dlb(θn+3, θn+4) +b3[dlb(θn+2, θn+3)+dlb(θn+3, θn+5)+dlb(θn+5, θn+4)]
≤ bdlb(θn, θn+1)+b2dlb(θn+1, θn+2)+ b+b3
dlb(θn+2, θn+3)+b2dlb(θn+3, θn+4) +b3dlb(θn+5, θn+4)+b4[dlb(θn+3, θn+4)+dlb(θn+4, θn+6)+dlb(θn+6, θn+5)]
≤ bdlb(θn, θn+1)+b2dlb(θn+1, θn+2)+ b+b3
dlb(θn+2, θn+3) +
b2+b4
dlb(θn+3, θn+4)+b3dlb(θn+5, θn+4)+b4dlb(θn+6, θn+5) +b5[dlb(θn+4, θn+5)+dlb(θn+5, θn+7)+dlb(θn+7, θn+6)]
≤ bdlb(θn, θn+1)+b2dlb(θn+1, θn+2)+ b+b3
dlb(θn+2, θn+3) +
b2+b4
dlb(θn+3, θn+4)+
b3+b5
dlb(θn+4, θn+5)+· · ·
< 2[bdlb(θn, θn+1)+b2dlb(θn+1, θn+2)+b3dlb(θn+2, θn+3) +b4dlb(θn+3, θn+4)+b5dlb(θn+4, θn+5)+· · ·]
≤ 2[bδnb(dlb(θ0, θ1))+b2δnb+1(dlb(θ0, θ1))+b3δnb+2(dlb(θ0, θ1))+· · ·]
< 2[bδb(δν(εb 0)−1(dlb(θ0, θ1)))+b2δ2b(δν(εb 0)−1(dlb(θ0, θ1)))+· · ·]<2ε0= ε.
It follows that
n,m→lim+∞dlb(θn, θm)=0. (2.4) Thus{θn}is a Cauchy sequence in (U,dlb). As (U,dlb) is complete, so there existsθ∗inU such that{θn} converges toθ∗,that is,
n→lim+∞dlb(θn, θ∗)= 0. (2.5) Now, suppose thatdlb(θ∗,Sθ∗)>0. Then
dlb(θ∗,Sθ∗) ≤ b[dlb(θ∗, θn)+dlb(θn, θn+1)+dlb(θn+1,Sθ∗)
≤ b[dlb(θ∗, θn+1)+dlb(θn, θn+1)+dlb(Sθn,Sθ∗).
Sinceα(θn, θ∗)≥ 1,we obtain
dlb(θ∗,Sθ∗) ≤ bdlb(θ∗, θn+1)+bdlb(θn, θn+1)+bδb(max{dlb(θn, θ∗), dlb(θ∗,Sθ∗).dlb(θn, θn+1)
a+dlb(θn, θ∗) , dlb(θn, θn+1)dlb(θ∗,Sθ∗)}).
Lettingn→ +∞, and using the inequalities (2.4) and (2.5), we obtaindlb(θ∗,Sθ∗) ≤ bδb(dlb(θ∗,Sθ∗)).
This is not true, becausebδb(t)< tfor allt >0 and hencedlb(θ∗,Sθ∗) = 0 orθ∗ = Sθ∗. HenceS has a
fixed pointθ∗inU.
Remark 2.2. By taking fourteen different proper subsets of Dlb(θ, ν), we can obtainvnew results as corollaries of our result in a completer.b.m.space with coefficientb.
We have the following result without usingα-dominated mapping.
Theorem 2.3. Let(U,dlb)be a complete r.b.m. space with coefficient b, S : U → U,{θn}be a Picard sequence. Suppose that, for someδb ∈$b, we have
dlb(Sθ,Sν)≤δb(Dlb(θ, ν)) (2.6) for allθ, ν∈ {θn}. Then{θn}converges toθ∗ ∈U.Also, if (2.6) holds forθ∗, then S has a fixed pointθ∗ in U.
We have the following result by takingδb(t)=ct,t∈R+with 0<c< 1b without usingα-dominated mapping.
Theorem 2.4. Let(U,dlb)be a complete r.b.m. space with coefficient b, S : U → U,{θn}be a Picard sequence. Suppose that, for some0<c< 1b, we have
dlb(Sθ,Sν)≤ c(Dlb(θ, ν)) (2.7)
for allθ, ν∈ {θn}. Then{θn}converges toθ∗ ∈U.Also, if (2.7) holds forθ∗, then S has a fixed pointθ∗ in U.
Ran and Reurings [16] gave an extension to the results in fixed point theory and obtained results in partially ordered metric spaces. Arshad et al.[3] introduced -dominated mappings and established some results in an ordered complete dislocated metric space. We apply our result to obtain results in ordered completer.b.m.space.
Definition 2.5. (U,,dlb) is said to be an ordered completer.b.m.space with coefficientbif (i) (U,) is a partially ordered set.
(ii) (U,dlb) is anr.b.m.space.
Definition 2.6. [3] LetU be a nonempty set, is a partial order on θ.A mapping S : U → U is said to be-dominated onA ifa S afor each a ∈ A ⊆ θ.If A = U, thenS : U → U is said to be -dominated.
We have the following result for-dominated mappings in an ordered completer.b.m.space with coefficientb.
Theorem 2.7. Let(U,,dlb)be an ordered complete r.b.m. space with coefficient b, S : U → U, {θn} be a Picard sequence and S be a-dominated mapping on{θn}.Suppose that, for someδb ∈ $b, we have
dlb(Sθ,Sν)≤δb(Dlb(θ, ν)), (2.8) for allθ, ν ∈ {θn}withθ ν. Then{θn}converges toθ∗ ∈U. Also, if (2.8) holds forθ∗andθn θ∗for all n∈N∪ {0}. Then S has a fixed pointθ∗in U.
Proof. Letα: U×U → [0,+∞) be a mapping defined byα(θ, ν) = 1 for allθ, ν ∈U withθ νand α(θ, ν) = 114 for all other elementsθ, ν∈U. AsS is the dominated mappings on{θn}, soθ Sθfor all θ∈ {θn}.This implies thatα(θ,Sθ)= 1 for allθ∈ {θn}.SoS :U → U is theα-dominated mapping on {θn}.Moreover, inequality (2.8) can be written as
dlb(Sθ,Sν)≤δb(Dlb(θ, ν))
for all elementsθ, νin{θn}withα(θ, ν) ≥ 1. Then, as in Theorem 2.1,{θn}converges to θ∗ ∈ U.Now, θn θ∗ impliesα(θn, θ∗) ≥ 1. So all the conditions of Theorem 2.1 are satisfied. Hence, by Theorem
2.1,S has a fixed pointθ∗inU.
Now, we present an example of our main result. Note that the results of Georgeet al. [11] and all other results in rectangularb-metric space are not applicable to ensure the existence of the fixed point of the mapping given in the following example.
Example 2.8. LetU = A∪B,whereA={1n :n∈ {2,3,4,5}}andB= [1,∞].Definedl :U×U →[0,∞) such thatdl(θ, ν)= dl(ν, θ) forθ, ν∈U and
dl(12, 13)= dl(14, 15)= 0.03 dl(12, 15)= dl(13, 14)= 0.02 dl(12,14)=dl(15,13)=0.6 dl(θ, ν)=|θ−ν|2 otherwise
be a complete r.b.m. space with coefficient b = 4 > 1 but (U,dl) is neither a metric space nor a rectangular metric space. Takeδb(t)= 10t ,thenbδb(t)<t.LetS :U →U be defined as
Sθ =
1
5 ifθ∈A
1
3 ifθ= 1
9θ100+85 otherwise.
Letθ0 =1.Then the Picard sequence{θn}is{1, 13, 15,15,15,· · · }. Define α(θ, ν)=
( 8
5 ifθ, ν∈ {θn}
4
7 otherwise.
ThenS is anα-dominated mapping on{θn}.Now,S satisfies all the conditions of Theorem 2.1. Here 15 is the fixed point inU.
3. Fixed point results for graphic contractions
Jachymski [13] proved the contraction principle for mappings on a metric space with a graph. Let (U,d) be a metric space and4 represents the diagonal of the cartesian product U ×U. Suppose that G be a directed graph having the vertices setV(G) along with U,and the set E(G) denoted the edges of U included all loops, i.e., E(G) ⊇ 4. If G has no parallel edges, then we can unify G with pair (V(G),E(G)). Iflandmare the vertices in a graphG,then a path inGfromltomof lengthN(N ∈N) is a sequence{θi}Ni=oofN+1 vertices such thatlo =l,lN =mand (ln−1,ln)∈ E(G) wherei=1,2,· · ·N (see for detail [7, 8, 12, 14, 18, 19]). Recently, Younis et al. [20] introduced the notion of graphical rectangularb-metric spaces (see also [5, 6, 21]). Now, we present our result in this direction.
Definition 3.1. Let θ be a nonempty set andG = (V(G),E(G)) be a graph such thatV(G) = U and A⊆ U. A mappingS :U → Uis said to be graph dominated onAif (θ,Sθ)∈E(G) for allθ∈A.
Theorem 3.2. Let(U,dlb)be a complete rectangular b-metric space endowed with a graph G,{θn}be a Picard sequence and S :U →U be a graph dominated mapping on{θn}. Suppose that the following hold:
(i) there existsδb ∈$bsuch that
dlb(Sθ,Sν)≤δb(Dlb(θ, ν)), (3.1) for allθ, ν ∈ {θn}and (θn, ν) ∈ E(G). Then(θn, θn+1) ∈ E(G) and{θn}converges to θ∗. Also, if (3.1) holds forθ∗and(θn, θ∗)∈E(G)for all n∈N∪ {0}, then S has a fixed pointθ∗in U.
Proof. Defineα:U×U → [0,+∞) by α(θ, ν)=
( 1, ifθ, ν∈U, (θ, ν)∈E(G)
1
4, otherwise.
SinceS is a graph dominated on{θn},forθ∈ {θn},(θ,Sθ)∈E(G). This implies thatα(θ,Sθ)=1 for all θ∈ {θn}.SoS :U →U is anα-dominated mapping on{θn}.Moreover, inequality (3.1) can be written as
dlb(Sθ,Sν)≤δb(Dlb(θ, ν)),
for all elementsθ, ν in {θn} withα(θ, ν) ≥ 1. Then, by Theorem 2.1, {θn} converges to θ∗ ∈ U. Now, (θn, θ∗)∈E(G) implies thatα(θn, θ∗)≥ 1.So all the conditions of Theorem 2.1 are satisfied. Hence, by
Theorem 2.1,S has a fixed pointθ∗inU.
Acknowledgments
The authors would like to thank the Editor, the Associate Editor and the anonymous referees for sparing their valuable time for reviewing this article. The thoughtful comments of reviewers are very useful to improve and modify this article.
Conflict of interest
The authors declare that they have no competing interests.
References
1. A. S. M. Alofi, A. E. Al-Mazrooei, B. T. Leyew, et al. Common fixed points of α-dominated multivalued mappings on closed balls in a dislocated quasi b-metric space, J. Nonlinear Sci. Appl., 10(2017), 3456–3476.
2. M. Arshad, Z. Kadelburg, S. Radenovi´c, et al.Fixed points ofα-dominated mappings on dislocated quasi metric spaces, Filomat,31(2017), 3041–3056.
3. M. Arshad, A. Shoaib, I. Beg,Fixed point of a pair of contractive dominated mappings on a closed ball in an ordered complete dislocated metric space, Fixed Point Theory A.,2013(2013), 1–15.
4. M. Balaj, S. Muresan, A note on a ´Ciri´c’s fixed point theorem, Fixed Point Theory, 4 (2003), 237–240.
5. P. Baradol, D. Gopal, S. Radenovi´c, Computational fixed point in graphical rectangular metric space, J. Comptut. Appl. Math.,375(2020), 112805.
6. P. Baradol, J. Vujakovi´c, D. Gopal, et al.On some new results in graphical rectangular b-metric spaces, Mathematics,8(2020), 488.
7. F. Bojor,Fixed point theorems for Reich type contraction on metric spaces with a graph, Nonlinear Anal-theor.,75(2012), 3895–3901.
8. M. De la Sen, N. Nikoli´c, T. Doˇsenovi´c, et al.Some results on (s-q) graphic contraction mappings in b-metric-like spaces, Mathematics,7(2019), 1190.
9. H. S. Ding, M. Imdad, S. Radenovi´c, et al.On some fixed point results in b-metric, rectangular and b-rectangular metric spaces, Arab Journal of Mathematical Sciences,22(2016), 151–164.
10. N. V. Dung,The metrization of rectangular b-metric spaces, Topol. Appl.,261(2019), 22–28.
11. R. George, S. Radenovi´c, K. P. Reshma, et al. Rectangular b-metric space and contraction principles, J. Nonlinear Sci. Appl.,8(2015), 1005–1013.
12. N. Hussain, M. Arshad, A. Shoaib, et al. Common fixed point results for α-ψ-contractions on a metric space endowed with graph, J. Inequal. Appl.,2014(2014), 136.
13. J. Jachymski,The contraction principle for mappings on a metric space with a graph, P. Am. Math.
Soc.,136(2008), 1359–1373.
14. R. Kl´en, V. Manojlovi´c, S. Simi´c, et al.Bernouli inequality and hypergeometric function, P. Am.
Math. Soc.,142(2014), 559–573.
15. E. Malkowski, V. Rakoˇcevi´c,Advanced Functional Analysis,CRS Press, 2019.
16. A. C. M. Ran, M. C. B. Reurings, A fixed point theorem in partially ordered sets and some applications to matrix equations, P. Am. Math. Soc.,132(2004), 1435–1443.
17. A. Shoaib, α-ν Dominated mappings and related common fixed point results in closed ball, J.
Concr. Appl. Math.,13(2015), 152–170.
18. J. Tiammee, S. Suantai,Coincidence point theorems for graph-preserving multi-valued mappings, Fixed Point Theory A.,2014(2014), 1–11.
19. V. Todorˇcevi´c,Harmonic Quasiconformol Mappings and Hyperbolic Type Metrics, Springer, 2019.
20. M. Younis, D. Singh, A. Goyal,A novel approach of graphical rectangular b-metric spaces with an application to the vibrations of a vertical heavy hanging cable, J. Fix. Point Theory A.,21(2019), 33.
21. M. Younis, D. Singh, A. Petrusel,Applications of graph Kannan mappings to the damped spring- mass system and deformation of an elastic beam, Discrete Dyn. Nat. Soc.,2019(2019), 1–9.
c
2020 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0)