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Constructive method for solvability of Fredholm equation of the first kind

Serikbai A. Aisagaliev and Zhanat Kh. Zhunussova

B

Al-Farabi Kazakh National University, Al-Farabi Avenue 71, Almaty, 050040, Kazakhstan Received 19 January 2017, appeared 26 May 2017

Communicated by Alberto Cabada

Abstract. The solvability and construction of the general solution of the first kind Fred- holm integral equation are among the insufficiently explored problems in mathematics.

There are various approaches to solve this problem. We note the following methods for solving of ill-posed problem: regularization method, the method of successive ap- proximations, the method of undetermined coefficients. The purpose of this work is to create a new method for solvability and construction of solution of the integral equa- tion of the first kind. As it follows from the foregoing, the study of the solvability and construction of a solution of the Fredholm integral equation of the first kind is topical.

A new method for studying of solvability and construction of a solution for Fredholm integral equation of the first kind is proposed. Solvability conditions and the construc- tion method of an approximate solution of the integral Fredholm equation of the first kind are obtained.

Keywords: integral equation, solvability, construction of a solution, extreme problem, functional gradient, minimizing sequences.

2010 Mathematics Subject Classification: 34C05, 34C07, 34C25.

1 Introduction

Solving of the controllability problems of dynamical system [1,6,8], the mathematical theory of optimal processes [2,10,11], the boundary value problems of differential equations with phase and integral constraints [7,12,14] are reduced to solvability and construction of the general solution of the first kind integral equation

Ku=

Z t1

t0

K(t,τ)u(τ)dτ= f(t), (1.1) whereK(t,τ)is a measurable function on the setS0 ={(t,τ)∈R2 /t0 ≤t≤t1, t0τ≤t1} and there exists an integral

P2=

Z t1

t0

Z t1

t0

|K(t,τ)|2dtdτ< ∞,

BCorresponding author. Email: Zhanat.Zhunusova@kaznu.kz

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function f(t)∈ L2(I,R1). It is necessary to find a solutionu(τ)∈ L2(I,R1), whereI = [t0,t1]. The solvability and construction of the general solution of Fredholm integral equation of the first kind is related to insufficiently explored problems in mathematics.

As it follows from [22], the norm kKk ≤ P, the operator K with kernel from L2(S0) is a completely continuous operator which transfers every weakly convergent sequence into strongly convergent. The inverse operator is not limited [17], the equationKu= f can not be solvable for all f ∈L2. This leads to the fact that a small error in f leads to an arbitrarily large error in solution of the equation (1.1).

The famous theoretical results on the solvability of equation (1.1) refer to the case when K(t,τ) = K(τ,t) i.e. equation (1.1) with a symmetric kernel. One of the main results of the solvability of equation (1.1) is a Picard theorem [18]. However, for application of this theorem necessary to prove the completeness of the eigenfunctions of symmetric kernel.

Thus, solvability and construction of solution of the integral equation (1.1) is a few studied complex ill-posed problem. There are various approaches to solve this problem. Note the following methods for solving of ill-posed problem.

• The regularization method [19] based on reducing the original problem to a correct prob- lem. For regularization it is necessary to perform a priori requirements to the original data of the problem. In the works [16,20] the methods for solving of the correct problem after regularization are proposed. Unfortunately, the additional requirements imposed to the original data of the problem are not always held and the methods of solving the correct problem are time-consuming;

• The method of successive approximations [15] for solving of the equation (1.1). The method is applicable whenK(t,τ)is a symmetric positive kernel inL2and it is required definition of the least characteristic number;

• The method of undetermined coefficients [21]. It is proposed to seek solutions to the equation (1.1) as a series. However, in general, the determination of the coefficients is extremely difficult.

The solvability and construction of solution of the equation (1.1) is topical as it follows from the study above.

The purpose of this work is to create a new method for construction and solvability of a solution of the integral equation of the first kind.

2 Solvability of Fredholm integral equation of the first kind

Problem statement. We consider the integral equation in the form Ku=

Z b

a K(t,τ)u(τ)dτ= f(t), t∈[t0,t1] = I, (2.1) whereK(t,τ) =kKij(t,τ)k,i= 1,n, j=1,mis known matrix ofn×morder, elements of the matrixK(t,τ)are Kij(t,τ)which are measurable functions and belong to the class L2 on the setS1= {(t,τ)∈R2 /t0 ≤t ≤t1, a≤τ≤ b},

Z b

a

Z t1

t0

|Kij(t,τ)|2dtdτ<∞,

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function f(t) ∈ L2(I,Rn) is prescribed, u(τ) ∈ L2(I1,Rm) is the original function with I1 = [a,b], the valuest0,t1,a, bare fixed,K :L2(I1,Rm)→ L2(I,Rn).

The following problems are set.

Problem 2.1. Find necessary and sufficient conditions for existence of a solution of the integral equa- tion(2.1)for a given f(t)∈L2(I,Rn).

Problem 2.2. Find a solution of the integral equation(2.1)for a given f(t)∈ L2(I,Rn).

Problem 2.3. Find necessary and sufficient conditions for existence of a solution of the integral equa- tion(2.1)for a given f(t)∈L2(I,Rn),when the original function u(τ)∈U(τ)⊂L2(I1,Rm). Problem 2.4. Find a solution of the integral equation (2.1) for a given f(t) ∈ L2(I1,Rm), when u(τ)∈U(τ)⊂L2(I1,Rm).

Problem 2.5. Find an approximate solution of the integral equation(2.1).

As it follows from the problem statement the solvability and construction of the solution of matrix Fredholm integral equation of the first kind are considered. As well as construction of an approximate solution of Fredholm integral equation of the first kind. The results are correct for the matrix Fredholm integral equation of the first kind, as with non symmetrical, as symmetrical kernel.

This work is a continuation of the research presented in [1,2,6–8,10–12,14], [3–5,9,13].

We consider the solutions of the Problems 2.1, 2.2 for integral equation (2.1). The solu- tions of Problems2.1 and2.2can be reduced to the study of extreme problem: minimize the functional

J(u) =

Z t1

t0

f(t)−

Z b

a K(t,τ)u(τ)dτ

2

dt→inf, (2.2)

at condition

u(τ)∈ L1(I1,Rm), (2.3)

where f(t)∈ L2(I,Rn)is a prescribed function,| · | is Euclidean norm.

Theorem 2.6. Let the kernel of the operator K(t,τ)be measurable and belongs to the class L2 in the rectangle S1 ={(t,τ)/t ∈ I = [t0,t1], τ∈ I1= [a,b]}.

Then:

(i) the functional (2.2) at condition (2.3) is continuously Fréchet differentiable, the gradient of the functional J0(u)∈ L2(I1,Rm)at any point u(·)∈L2(I1,Rm)is defined by formula

J0(u) =−2 Z t1

t0

K(t,τ)f(t)dt+2 Z t1

t0

Z b

a K(t,τ)K(t,σ)u(σ)dσdt∈L2(I1,Rm); (2.4) (ii) the gradient of the functional J0(u)∈ L2(I1,Rm)satisfies to the Lipschitz condition

kJ0(u+h)−J0(u)k ≤lkhk, ∀u, u+h∈ L2(I1,Rm); (2.5) (iii) the functional(2.2)at condition(2.3)is convex, i.e.

J(αu+ (1α)v)≤αJ(u) + (1α)J(v), ∀u,v ∈L2(I1,Rm),α, α∈[0, 1]; (2.6)

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(iv) the second Fréchet derivative equals J00(u) =2

Z t1

t0

K(t,σ)K(t,τ)dt. (2.7) (v) if the inequality is satisfied

Z b

a

Z b

a

ξ(σ) Z t1

t0

K(t,σ)K(t,τ)dt

ξ(τ)dτdσ=

Z t1

t0

Z t1

t0

K(t,τ)ξ(τ)dτ 2

dt

µ Z b

a

|ξ(τ)|2dτ, µ>0, ∀ξ, ξ ∈L2(I1,Rm),

(2.8)

then the functional(2.2)at condition(2.3)is strongly convex.

Proof. As it follows from (2.2) the functional J(u) =

Z t1

t0

f(t)f(t)−2f(t)

Z b

a K(t,τ)u(τ)dτ+

Z b

a

Z b

a u(τ)K(t,τ)K(t,σ)u(σ)dσ

dt.

Then the increment of the functional

∆J = J(u+h)−J(u)

=

Z b

a

−2 Z t1

t0

K(t,σ)f(t)dt, h(σ)

dσ +

Z b

a

2

Z t1

t0

Z b

a K(t,σ)K(t,τ)u(τ)dτdt, h(σ)

dσ +

Z t1

t0

Z b

a

Z b

a h(τ)K(t,τ)K(t,σ)h(σ)dσdτdt

=hJ0(u),hiL2+o(h),

(2.9)

where

|o(h)|=

Z t1

t0

Z b

a

Z b

a h(τ)K(t,τ)K(t,σ)h∗(σ)dσdτ

dt≤c1khk2L

2. From (2.9) follows, that J0(u)is defined by formula (2.4). Since

J0(u+h)−J0(u) =2 Z t1

t0

Z b

a K(t,τ)K(t,σ)h(t,σ)dσdt, that

|J0(u+h)−J0(u)| ≤2 Z t1

t0

Z b

a

kK(t,τ)k kK(t,σ)k |h(t,σ)|dσdt

≤ c2(τ)khkL2, c2(τ)>0, τ∈ I1. Then

kJ0(u+h)−J0(u)kL2 = Z t

1

t0

|J0(u+h)−J0(u)|21/2

≤lkhkL2, for anyu,u+h∈ L2(I1,Rm). This implies the inequality (2.5).

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We show, that the functional (2.2) at condition (2.3) is convex. In fact, for every u, w ∈ L2(I1,Rm)the following inequality is valid:

hJ0(u)−J0(w),u−wiL2

=

2 Z t1

t0

Z b

a K(t,τ)K(t,σ)[u(σ)−w(σ)]dσdt, u−w

L2

=2 Z t1

t0

Z b

a

Z b

a

[u(σ)−w(σ)]K(t,τ)K(t,σ)[u(σ)−w(σ)]dσdt

=2

Z t1

t0

Z b

a

K(t,σ)[u(σ)−w(σ)]dσ 2

dt≥0.

This means that the functional (2.2) is convex, i.e. the inequality (2.6) holds. As it follows from (2.4),

J0(u+h)−J0(u) =hJ00(u),hi=

2 Z t1

t0

K(t,σ)K(t,τ)dt, h

L2

=2 Z t1

t0

K(t,τ)K(t,σ)h(σ)dσdt.

Consequently,J00(u)is defined by formula (2.7). From (2.7), (2.8) follows that hJ00(u)ξ,ξiL2µkξk2, ∀u, u∈ L2(I1,Rm), ∀ξ, ξ ∈ L2(I1,Rm).

This means that the functional J(u) is strongly convex in L2(I1,Rm). The theorem is proved.

Theorem 2.7. Let for extreme problem(2.2),(2.3)the sequence{un(τ)} ∈ L2(I1,Rn)be constructed by algorithm [5]

un+1(τ) =un(τ)−αnJ0(un), gn(αn) =mingn(α), α≥0, gn(α) =J(unαJ0(un)), n=0, 1, 2, . . .

Then the numerical sequence{J(un)}decreases monotonically, the limitlimnJ0(un) =0.

If, in addition, the set M(u0) ={u(·)∈ L2(I1,Rn)/J(u)≤ J(u0)}is bounded, then:

(i) the sequence{un(τ)} ⊂ M(u0)is minimized, i.e.

nlimJ(un) = J =infJ(u), u∈ L2(I,Rm); (ii) the sequence{un}weakly converges to the set U,where

U =nu(τ)∈ L2(I1,Rm)/J(u) =minuM(u0)J(u) =J =infuL2(I1,Rm)J(u)o, unweak

→ u as n →∞;

(iii) the following rate of convergence is valid 0≤ J(un)−J(u)≤ m0

n , m0 =const.>0, n=1, 2, . . . (2.10)

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(iv) if the inequality(2.8)is satisfied, then the sequence{un} ⊂L2(I1,Rn)strongly converges to the point u ∈U. The following estimates are valid

0≤ J(un)−J(u)≤ [J(u0)−J]qn, q=1−µ

l, 0≤q≤1, µ>0, kun−uk ≤

2 µ

[J(u0)−J(u)]qn, n=0, 1, 2, . . . ,

(2.11)

where J = J(u);

(v) in order that the Fredholm integral equation of the first kind(2.1)have a solution it is necessary and sufficient that J(u) = 0, u ∈ U. In this case the function u(τ) ∈ L2(I1,Rm) is a solution of integral equation(2.1).

(vi) if the value J(u) > 0, then the integral equation (2.1) has no solution for a given f(t) ∈ L2(I,Rn).

Proof. Since gn(αn) ≤ gn(α), that J(un)−J(un+1) ≥ J(un)−J(unαJ0(un)), α ≥ 0, n = 0, 1, 2, . . . On the other hand, from the inclusion J(u)∈C1,1(L2(I1,Rm))follows, that

J(un)−J(unαJ0(un))≥α

1−αl 2

kJ0(un)k2, α≥0, n−0, 1, 2, . . . Then

J(un)−J(un+1)≥ 1

2lkJ0(un)k2> 0.

It follows that the numerical sequence {J(un)} decreases monotonically and limnJ0(un) =0. The first statement of the theorem is proved.

Since the functional J(u)is convex at u∈L2, that the set M(u0)is convex. Then 0≤ J(un)−J(u)≤ hJ0(un),un−uiL2 ≤ kJ0(un)k kun−uk ≤DkJ0(un)k,

un∈ M(u0), u∈ M(u0),

whereDis a diameter of the set M(u0). Since M(u0)is a bounded convex closed set in L2, it is weakly bicompact. The convex continuously differentiable functional J(u)is weakly lower semicontinuous. Then the set U 6= ∅, ∅ is the empty set, U ⊂ M(u0), {un} ⊂ M(u0), u ∈ M(u0). We note, that

0≤ lim

nJ(un)−J(u)≤D lim

nkJ0(un)k=0, lim

nJ(un) = J(u) = J.

Consequently, on the setM(u0)the lower bound of the functionalJ(u)in the pointu ∈U

is reached, the sequence {un} ⊂ M(u0) is minimized. Thus, the second statement of the theorem is proved.

The third statement of the theorem follows from the inclusion {un} ⊂ M(u0), M(u0)is a weakly bicompact set, J(u) = minJ(u) = J =infJ(u),u ∈ M(u0). Therefore, un weak

→ u at n→∞.

From the inequalities

J(un)−J(un+1)≤ 1

2lkJ0(un)k2, 0≤ J(un)−J(u)≤ DkJ0(un)k,

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unweak

→ u asn →∞.

follows the estimation (2.10), wherem0 =2D2l. The fourth statement of the theorem is proved.

If the inequality (2.8) holds, then the functional (2.2) at condition (2.3) is strongly convex.

Then

J(un)−J(u)≤ hJ0(un),un−ui − µ

2kun−uk2 ≤2µkJ0(un)k2, n=0, 1, 2, . . . , J(un)−J(un+1)≥ 1

2lkJ0(un)k2, n=0, 1, 2, . . . It follows thatan−an+1µlan, where an = J(un)−J(u). Therefore, 0 ≤an+1 ≤an 1− µl= qan. Then an ≤ qan1 ≤ q2an2 ≤ · · · ≤ qna0, where a0 = J(u0)− J(u). It follows the estimations (2.11). The fifth statement of the theorem is proved.

As it follows from (2.2), the value J(u) ≥ 0, ∀u, u ∈ L2(I1,Rm). Sequence {un} ⊂ L2(I1,Rm)is minimizing for any starting point u0= u0(τ)∈ L2(I1,Rm), i.e.

J(u) = min

uL2(I1,Rm)J(u) = J = inf

uL2(I1,Rm)J(u). IfJ(u) =0, then f(t) =Rb

a K(t,τ)u(τ)dτ. Thus, the integral equation (2.1) has a solution if and only if the value J(u) = 0, where u = u(τ) ∈ L2(Ip,Rn) is solution of integral equation (2.1). If the valueJ(u)>0, then f(t)6=Rb

a K(t,τ)u(τ)dτ, consequently,u = u(τ), τ∈ I1is not the solution of the integral equation (2.1). The theorem is proved.

We consider the case when the original function u(τ) ∈ U(τ) ⊂ L2(I1,Rm), where, in particular, either

U(τ) ={u(·)∈L2(I1,Rm)(τ)≤u(τ)≤ β(τ), a.e.τ∈ I1}, or

U(τ) ={u(·)∈ L2(I1,Rm)/kuk2R2}.

Solutions of the Problems2.3and2.4can be obtained by solving the optimization problem:

minimize the functional J1(u,v) =

Z t1

t0

|f(t)−

Z b

a K(t,τ)u(τ)dτ|2dt+ku−vk2L2 →inf (2.12) at condition

u(·)∈ L2(I1,Rm), v(τ)∈U(τ)⊂ L2(I1,Rm), τ∈ I1, f(t)∈ L2(I,Rn). (2.13) Theorem 2.8. Let the kernel of the operator K(t,τ) be measurable and belong to L2 in the rectangle S1={(t,τ)∈R2/t∈ I, τ∈ I1}. Then:

(i) the functional(2.12)at condition(2.13)is continuously Fréchet differentiable, the gradient of the functional

J10(u,v) = (J1u0 (u,v),J1v0 (u,v))∈ L2(I1,Rm)×L2(I1,Rm)

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in any point(u,v)∈ L2(I1,Rm)×L2(I1,Rm)is defined by formula J1u0 (u,v) = −2

Z t1

t0 K(t,τ)f(t)dt+2 Z t1

t0

Z b

a K(t,τ)K(t,σ)u(σ)dσdt +2(u−v)∈L2(I1,Rm),

J1v0 (u,v) = −2(u−v)∈L2(I1,Rm);

(2.14)

(ii) the gradient of the functional J10(u,v)satisfies the Lipschitz condition kJ10(u+h,v+h1)−J10(u,v)k ≤l2(khk+kh1k),

∀(u,v), (u+h,v+h1)∈ L2(I1,Rm)×L2(I1,Rm); (iii) the functional(2.12)at condition(2.13)is convex.

The proof of the theorem is similar to the proof of Theorem2.6.

Theorem 2.9. Let for optimization problem(2.12),(2.13)the sequences be constructed (see(2.14)) un+1 =unαnJ1u0 (un,vn), vn+1 =PU[vnαnJ10(un,vn)], n=0, 1, 2, . . . ,

ε0α2

l2+2ε1, ε0 >0, ε1>0, n=0, 1, 2, . . .

Then the numerical sequence {J1(un,vn)} decreases monotonically, and limnkun−un+1k = 0, limnkvn−vn+1k=0hold.

If, in addition, the set M(u0,v0) ={(u,v)∈ L2×U/J1(u,v)≤ J(u0,v0)}is bounded, then:

(i) the sequence{un,vn} ⊂ M(u0,v0)is minimized, i.e.

nlimJ1(un,vn) =J =infJ(u,v), (u,v)∈L2×U;

(ii) unweak→ u,vnweak→ vas n →∞,

(u,v)∈U =n(u,v)∈ L2×U/J1(u,v) =minJ1(u,v) = J =infJ1(u,v), (u,v)∈ L2×Uo

; (iii) in order that the integral equation (2.1) at condition u(τ) ∈ U have a solution, it is necessary

and sufficient that J1(u,v) =0.

The proof of the theorem is similar to the proof of Theorem2.7.

3 The approximate solution of Fredholm integral equation of the first kind

We consider the integral equation in the form Ku=

Z b

a K(t,τ)u(τ)dτ= f(t), t∈ I = [t0,t1]. (3.1)

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Let in L2 a complete system be given, such as 1,t,t2, . . . , and any complete orthonormal system {ϕk(t)}k=1, t ∈ I = [t0,t1]. Since the condition of Fubini’s theorem on changing the order of integration is held, that (see (3.1))

Z t1

t0

Z b

a Kij(t,τ)uj(τ)dτ

ϕk(t)dt

=

Z b

a

Z t

1

t0 Kij(t,τ)ϕk(t)dt

uj(τ)dτ

=

Z b

a L(ijk)(τ)uj(τ)dτ, i=1,n, j=1,m, k=1, 2, . . . , Z t1

t0 fi(t)ϕk(t)dt=aik, i=1,n, k=1, 2, . . . ,

where K(t,τ) = kKij(t,τ)k,i= 1,n, j=1,m, f(t) = (f1(t), . . . ,fn(t)), t ∈ I,τ ∈ I1, L(ijk)(τ)is denoted Rt1

t0 Kij(t,τ)ϕk(t)dt.

Then Z t1

t0

Z b

a

K(t,τ)u(τ)dτ

ϕk(t)dt

=

 Rb

a

Rt1

t0 K11(t,τ)ϕk(t)dt

u1(τ)dτ+· · ·+Rb a

Rt1

t0 K1m(t,τ)ϕk(t)dt

um(τ)dτ ...

Rb a

Rt1

t0 Kn1(t,τ)ϕk(t)dt

u1(τ)dτ+· · ·+Rb a

Rt1

t0 Knm(t,τ)ϕk(t)dt

um(τ)dτ

=

 Rb

a L11(k)(τ)u1(τ)+· · ·+Rb

a L(1mk)(τ)um(τ) ...

Rb

a L(n1k)(τ)u1(τ)dτ+· · ·+Rb

a L(nmk)(τ)um(τ)dτ

=

Z b

a L(k)(τ)u(τ)dτ, k=1, 2, . . . , a(k) =

Z t1

t0 f(t)ϕk(t)dt=

 Rt1

t0 f1(t)ϕk(t)dt ...

Rt1

t0 fn(t)ϕk(t)dt

 =

 a(1k)

... a(nk)

, k =1, 2, . . .

Now, for each indexkwe get Z b

a L(k)(τ)u(τ)dτ=a(k), k=1, 2, . . . , (3.2) where L(k)(τ)is a matrix ofn×morder,a(k)∈ Rn,

L(k)(τ) =

L1(k)(τ) ... L(nk)(τ)

, L(jk)(τ) =L(j1k)(τ), . . . ,L(jmk)(τ), k=1, 2, . . .

We denote

L(τ) =

L(1)(τ) L(2)(τ)

...

, a=

 a(1) a(2) ...

.

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Then the relations (3.2) are written in the form Z b

a L(τ)u(τ)dτ=a, (3.3)

whereL(τ)is a matrix of Nn×morder, N= ∞.

It should be noted that if for somek = k, L(jk)(τ) =0 and correspondinga(jk)=0, then the relations should be excepted from the system (3.3)

Z b

a L(jk)(τ)u(τ)dτ=a(jk).

Note that ifL(jk)(τ) =0, but a(jk)6=0, then the integral equation (3.1) has no solution.

Theorem 3.1. Let the matrix

CN =

Z b

a LN(τ)LN(τ)dτ

of order nN×nN be positive definite. Then the general solution of the integral equation (3.1) is determined by formula

uN(τ) =LN(τ)CN1aN+pN(τ)−LN(τ)CN1 Z b

a LN(η)pN(η)dη, τ∈ I1, (3.4) where pN(τ)∈ L2(I1,Rm)is an arbitrary function.

The proof for finite Ncan be found in [3].

4 Conclusion

In this work a new method for studying of solvability and construction of a solution for Fredholm integral equation of the first kind is proposed. Necessary and sufficient conditions for existence of a solution for a given right-hand side are obtained in two cases: when the original function belongs to the space L2; the original function belongs to a given set of L2. Solvability conditions and the method of construction an approximate solution of the integral Fredholm equation of the first kind are obtained. According to the method with comparison to the well-known methods an approximation solution of the Fredholm integral equation of the first kind can be obtained. Several theorems about solvability of the equation are proved.

Further continuation of the research works in this direction and development applications on the base of the method are planned.

References

[1] S. A. Aisagaliev, Controllability of a differential equation system, Differential Equations 27(1991), No. 9, 1037–1045.MR1140543

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