Hindawi Publishing Corporation Abstract and Applied Analysis Volume 2011, Article ID 436852, 15 pages doi:10.1155/2011/436852 Research Article On a Class of Nonautonomous Max-Type Difference Equations Wanping Liu,1 Xiaofan Yang,1 and Stevo Stević2 1 2 College of Computer Science, Chongqing University, Chongqing 400044, China Mathematical Institute of the Serbian Academy of Sciences, Knez Mihailova 36/III, 11000 Beograd, Serbia Correspondence should be addressed to Wanping Liu, wanping liu@yahoo.cn Received 15 February 2011; Accepted 14 June 2011 Academic Editor: Gaston Mandata N’Guerekata Copyright q 2011 Wanping Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. β α , B/xn−m }, n ∈ N0 , where This paper addresses the max-type difference equation xn max{fn /xn−k k, m ∈ N, B > 0, and fn n∈N0 is a positive sequence with a finite limit. We prove that every positive solution to the equation converges to max{limn → ∞ fn 1/α1 , B 1/β1 } under some conditions. Explicit positive solutions to two particular cases are also presented. 1. Introduction The study of difference equations, which usually depicts the evolution of certain phenomena over the course of time, has a long history. Many experts recently pay some attention to socalled max-type difference equations which stem from certain models in control theory, see, for example, 1–23 and the references therein. The study of the following family of max-type difference equations xn max r1 0 1 xn−p1 Bn , Bn s 1 xn−q1 r2 2 xn−p2 , Bn s 2 xn−q2 rk k xn−pk , . . . , Bn sk xn−qk , n ∈ N0 , 1.1 where pi , qi ∈ N such that 1 ≤ p1 < · · · < pk , 1 ≤ q1 < · · · < qk , ri , si ∈ R , k ∈ N and i Bn i 0, 1, . . . , k are real sequences, was proposed by S. Stević at numerous conferences, for example, 10, 11. For some results in this direction, see 1, 2, 4, 12–23. 2 Abstract and Applied Analysis In the beginning of the investigation the following equation was studied: 1 2 k A n An An , ,..., xn max , xn−1 xn−2 xn−k n ∈ N0 , 1.2 i where k ∈ N, An n∈N0 , i 1, . . . , k are real sequences and the initial values are nonzero see, e.g., 3, 5, 6, 9 and the related references therein. In 22, Sun studied the second-order difference equation ⎧ ⎫ ⎨ A B ⎬ , β , xn max α ⎩ xn−1 x ⎭ n ∈ N0 , 1.3 n−2 with α, β ∈ 0, 1, A, B > 0, and proved that each positive solution to 1.3 converges to the equilibrium point max{A1/α1 , B1/β1 }, by considering several subcases. However, the method used there is a bit complicated and difficult for extending. Hence in 14 Stević extended this, as well as the main result in 13, by presenting a more concise and elegant proof of the next theorem. Theorem 1.1 see 14, Theorem 1. Every positive solution to the difference equation A2 Ak A1 xn max α1 , α2 , . . . , αk xn−p1 xn−p2 xn−pk , n ∈ N0 , 1.4 where pi , i 1, . . . , k are natural numbers such that 1 ≤ p1 < · · · < pk , k ∈ N and Ai > 0, αi ∈ 1/α 1 −1, 1, i 1, . . . , k, converges to max1≤i≤k {Ai i }. Definition 1.2. Let F : N0 × Rk → R be a function of k 1 variables, then the difference equation xn Fn, xn−1 , . . . , xn−k , n ∈ N0 , 1.5 is called nonautonomous or time variant. Note that the following nonautonomous difference equation 1 2 l A n An An xn max α1 , α2 , . . . , αl , xn−1 xn−2 xn−l i n ∈ N0 , 1.6 where l ∈ N, αi ∈ R, and An n∈N0 , i 1, . . . , l are real sequences not all constant, is a natural generalization of 1.2, 1.3, and 1.4. It is a special case of 1.1 of particular interest. The aforementioned works are mainly devoted to the study of 1.6 with constant or periodic numerators. Abstract and Applied Analysis 3 This paper is devoted to the study of the following nonautonomous max-type difference equation with two delays: fn B xn max α , β xn−k x , 1.7 n ∈ N0 , n−m where k, m ∈ N, α, β ∈ R are fixed and fn n∈N0 is a positive sequence with a finite limit. Inspired by the methods and proofs of the above-mentioned papers, here we try to find some sufficient conditions such that every positive solution to 1.7 converges to max{limn → ∞ fn 1/α1 , B1/β1 }. This paper proceeds as follows. Several useful lemmas are given in Section 2. In Section 3 we establish three main results about the global attractivity of 1.7 under some conditions. Finally motivated by a recent theorem in 21, explicit solutions to two particular cases of 1.7 are presented in Section 4. 2. Auxiliary Results To establish the main results in Section 3, here we present several lemmas. First we extend Lemma 2.4 in 21 by proving the following result. Lemma 2.1. Consider the nonautonomous difference equation zn min{C1 n − α1 nzn−1 , . . . , Ck n − αk nzn−k }, n ∈ N0 , 2.1 where k ∈ N and αi n, Ci n, i 1, 2, . . . , k are sequences. If Ci ns are nonnegative sequences and there always exists i0 ∈ {1, 2, . . . , k} such that Ci0 n 0 for each fixed n ∈ N0 , then |zn | ≤ max{|α1 n||zn−1 | − C1 n, . . . , |αk n||zn−k | − Ck n}, n ∈ N0 . 2.2 Proof. Suppose that n ∈ N0 is fixed, and denote by S ⊆ {1, . . . , k} the set of all indices for which the terms in 2.1 are negative. If S ∅, which means all terms in the right-hand side of 2.1 are nonnegative, then apparently 0 ≤ zn ≤ −αi0 nzn−i0 2.3 |zn | ≤ |αi0 n||zn−i0 | − Ci0 n. 2.4 which implies Otherwise, S / ∅, which means that there exist indices such that the corresponding terms in 2.1 are negative, then we derive zn min Cj n − αj nzn−j < 0. j∈S 2.5 4 Abstract and Applied Analysis Since αj nzn−j must be positive for j ∈ S, it follows from 2.5 that |zn | max αj nzn−j − Cj n max αj nzn−j − Cj n . j∈S j∈S 2.6 Inequality 2.2 follows easily from 2.4 and 2.6. The following lemma is widely used in the literature. Lemma 2.2 see 24. Let an n∈N be a sequence of nonnegative numbers which satisfies the inequality ank ≤ q max{ank−1 , ank−2 , . . . , an }, for n ∈ N, 2.7 where q > 0 and k ∈ N are fixed. Then there exists an M ≥ 0 such that an ≤ M n k q , n ∈ N, 2.8 which implies an → 0 as n → ∞ if 0 < q < 1. Lemma 2.3. Assume that xn n≥−k is a sequence of nonnegative numbers satisfying the difference inequality xn ≤ max γ1 xn−1 − d1 n, . . . , γk xn−k − dk n , n ∈ N0 , 2.9 where k ∈ N, γi ∈ 0, 1, and di n, i 1, . . . , k are nonnegative sequences. If there exists at least one positive γi , then the sequence xn converges to zero as n → ∞. Proof. This lemma follows directly from Lemma 2.2 since xn ≤ max γ1 xn−1 − d1 n, . . . , γk xn−k − dk n ≤ max γ1 xn−1 , . . . , γk xn−k ≤ γ max{xn−1 , . . . , xn−k }, 2.10 where 0 < γ max{γ1 , γ2 , . . . , γk } < 1. Remark 2.4. If in Lemma 2.3, we assume γi 0, i 1, . . . , k, then the statement also holds, since in this case, if such a sequence exists, then the solution must be trivial, that is, xn 0, n ∈ N0 for some results on the existence of nontrivial solutions, see, e.g., 25–27 and the references therein. Through some simple calculations, we have the following result. Lemma 2.5. Every positive solution xn n≥−1 to the first-order difference equation xn A1−1/ω xn−1 1/ω , n ∈ N0 , 2.11 Abstract and Applied Analysis 5 with A > 0, ω > 0, x−1 > 0, has the form n1 n1 xn A1−1/ω x−1 1/ω , n ∈ N0 . 2.12 Note that Lemma 2.5 leads to the following corollary. Corollary 2.6. Each positive solution Zn n≥−k to the k th-order difference equation Zn A1−1/ω Zn−k 1/ω , n ∈ N0 , 2.13 where A > 0, ω > 0, k ∈ N and the initial values Z−1 , . . . , Z−k are positive, has the following form: n/k1 Zn A1−1/ω Zρn,k−k 1/ωn/k1 , n ≥ 0, 2.14 where · represents the integer part function and ρn, k n − k · n/k. Remark 2.7. By Corollary 2.6 we have that for any positive solution Zn n≥−k to 2.13 the following three statements hold true if ω > 1: 1 limn → ∞ Zn A; 2 if Zi < A for every i ∈ {−k, . . . , −1}, then the subsequences Zjki j≥0 are all strictly increasing; 3 if Zi > A for every i ∈ {−k, . . . , −1}, then the subsequences Zjki j≥0 are all strictly decreasing. 3. Main Results In this section, we prove the main results of this paper, which concern the global attractivity of positive solutions to 1.7 under some conditions. In the sequel, we assume that there is a finite limit of the positive sequence fn n∈N0 in 1.7. Theorem 3.1. Consider 1.7, where fn n∈N0 is a positive monotone sequence with finite limit A > 0. If |α| < 1, |β| < 1, B > Aβ1/α1 , then every positive solution to 1.7 converges to B1/β1 . Proof. By the change xn yn B1/β1 , 1.7 is transformed into Cn 1 yn max α , β yn−k y , n ∈ N0 , 3.1 n−m with Cn fn /Bα1/β1 , n ∈ N0 . Note that the sequence Cn n∈N0 is also monotone and limn → ∞ Cn A/Bα1/β1 < 1. According to the assumption the sequence fn n∈N0 is nondecreasing or nonincreasing. If fn n∈N0 is nonincreasing, then for some fixed ε ∈ 0, Bα1/β1 − A, there exists a natural number N such that for every n ≥ N we have fn − A < ε, which implies 0 < Cn < 1, n ≥ N. 3.2 6 Abstract and Applied Analysis On the other hand, if fn n∈N0 is nondecreasing then obviously Cn < 1 for each n ∈ N0 , hence 3.2 also holds for this case. Let D ∈ 0, 1 be fixed. Employing the transformation yn Dzn , 3.1 becomes Dzn max Cn 1 , , Dαzn−k Dβzn−m n ∈ N0 , 3.3 which implies zn min logD Cn − αzn−k , −βzn−m , n ∈ N0 . 3.4 Note that logD Cn > 0 for all n ≥ N. From this and by Lemma 2.1 we get |zn | ≤ max |α||zn−k | − logD Cn , β|zn−m | , n ≥ N. 3.5 When both α and β are zero, it is clear that zn is always zero for n ≥ N. Otherwise, it follows from Lemma 2.3 that limn → ∞ |zn | 0, which implies lim zn 0. 3.6 n→∞ Finally, from the above two transformations we get lim xn B1/β1 lim yn B1/β1 Dlimn → ∞ zn B1/β1 . n→∞ n→∞ 3.7 The proof is complete. Theorem 3.2. Consider 1.7. Let fn n≥−k be a positive solution to 2.13 such that fi < A (or fi > A), i −k, . . . , −1, and denote Γ sup n≥m ln fn−m − ln A . ln fn − ln A 3.8 If ω > 1, 0 < αω < 1, |β|Γ < 1, B < Aβ1/α1 , then every positive solution to 1.7 converges to A1/α1 . Proof. Employing the transformation xn yn A1/α1 , 1.7 becomes Cn λ yn max α , β yn−k y n−m where Cn fn /A, n ∈ N0 and λ B/Aβ1/α1 . , n ∈ N0 , 3.9 Abstract and Applied Analysis 7 Then by the change yn Cnzn , 3.9 is transformed into Cnzn Cn λ max αzn−k , βzn−m , Cn−k Cn−m n ≥ max{k, m}. 3.10 In the sequel, we proceed by considering two cases. Case 1. Let fi < A, i −k, . . . , −1. By Remark 2.7, we have 0 < Cn < 1, n ∈ N0 . From 3.10 we get zn min 1 − α logCn Cn−k zn−k , logCn λ − β logCn Cn−m zn−m min 1 − αωzn−k , logCn λ − β logCn Cn−m zn−m , 3.11 for n ≥ max{k, m}. By the change zn gn 1/αω 1, 3.11 becomes gn min −αωgn−k , Tn − β logCn Cn−m gn−m , n ≥ max{k, m}, 3.12 where Tn logCn λ − βlogCn Cn−m 1 αω 1 3.13 . Claim 1. There exists an integer M > 0 such that Tn > 0 for every n ≥ M. Proof. Since fn ACn , we easily have that βlog Cn−m ≤ βsup log Cj−m βΓ < 1, Cn Cj n ≥ m. 3.14 j≥m Hence 0< βlogCn Cn−m 1 αω 1 < 2, n ≥ m. 3.15 √ On the other hand, √ for ε A1 − λ, there exists an M > 0 such that for each n ≥ M we have fn > A − ε A λ, which along with the fact Cn ∈ 0, 1, n ∈ N0 , implies that logCn λ > 2, n ≥ M. The claim follows directly from 3.15 and 3.16, as desired. 3.16 8 Abstract and Applied Analysis Next, from Lemma 2.1 and 3.12 it follows that gn ≤ max αωgn−k , β log Cn−m gn−m − Tn Cn ≤ max αωgn−k , βΓgn−m − Tn , 3.17 n ≥ max{k, m, M}. From 3.17 and by Lemma 2.3, we derive limn → ∞ |gn | 0. Hence lim ln yn lim zn ln Cn lim zn · ln n→∞ n→∞ n→∞ lim Cn n→∞ 1 · ln 1 0, αω 1 3.18 and consequently lim xn A1/α1 lim yn A1/α1 . n→∞ 3.19 n→∞ Case 2. Let fi > A, i −k, . . . , −1. By Remark 2.7, we have Cn > 1, n ∈ N0 , and 3.10 is transformed into zn max 1 − α logCn Cn−k zn−k , logCn λ − β logCn Cn−m zn−m max 1 − αωzn−k , logCn λ − β logCn Cn−m zn−m , 3.20 for all n ≥ max{k, m}. Then employing the following change zn −gn 1 , αω 1 3.21 3.20 is transformed into gn min −αωgn−k , Tn − β logCn Cn−m gn−m , n ≥ max{k, m}, 3.22 where Tn −logCn λ βlogCn Cn−m 1/αω 1. In this case, Tn > 0 obviously holds. The rest of the proof is similar to that of Case 1 so is omitted. To illustrate Theorem 3.2, we present the following example. Example 3.3. Consider the difference equation fn B xn max α , β xn−1 x , n ∈ N0 , n−m n1 where B > 0, m ≥ 2, and fn Aq1/ω , ω > 1, A, q > 0, q / 1, n ∈ N0 . 3.23 Abstract and Applied Analysis 9 By Theorem 3.2 and through some calculations, we obtain ln fn−m − ln A Γ sup ln fn − ln A n≥m ωn1 sup n−m1 n≥m ω ωm . 3.24 Hence if 0 < α < 1/ω, |β| < 1/ωm , B < Aβ1/α1 , then every positive solution to 3.23 converges to A1/α1 . Theorem 3.4. Consider 1.7. If fn n∈N0 is an increasing sequence converging to A, |α|, |β| < 1 and B Aβ1/α1 , then every positive solution to 1.7 converges to A1/α1 . Proof. By the change xn yn A1/α1 , 1.7 becomes 1 Cn yn max α , β yn−k y , n ∈ N0 , 3.25 n−m where Cn fn /A < 1, n ∈ N0 . The rest of the proof is analogous to that of Theorem 3.1 and thus is omitted. 4. Explicit Solutions Recently, Stević and Iričanin in 21 proved the following theorem. Theorem 4.1 see 21, Theorem 2.8. Consider a1 ak , . . . , xn−k xn max xn−1 , n ∈ N0 , 4.1 where k ∈ N, ai ∈ R, i 1, . . . , k. Then every well-defined solution of the equation has the following form: j in j1 aj k xn dn 1 k , 4.2 j where n k/k ≤ in · · · in ≤ n 1, n ∈ N0 , in ≥ 0, j 1, . . . , k, and where dn is equal to one of the initial values x−k , . . . , x−1 . The result is interesting since 4.2 holds for all real aj ’s and for all nonzero initial values if one of these exponents is negative. However, 4.2 does not give explicit solutions j to 4.1 since dn ’s and in ’s in 4.2 are uncertain. Thus the problem of finding more explicit expressions of solutions to 4.1 is of interest. 10 Abstract and Applied Analysis In this section we find explicit solutions to the next particular cases of 4.1 1 xn max 1 , p , xn−1 xn−2 1 1 , xn max , p xn−1 xn−2 n ∈ N0 , 4.3 n ∈ N0 , 4.4 with p > 1 and positive initial values x−2 , x−1 . First we prove a useful lemma. Lemma 4.2. Let xn n∈N0 be a positive solution to 4.3 or 4.4. If there exists an N ∈ N0 such that p p xN3 xN , p xN4 xN1 , xN5 xN2 , 4.5 then for each k ∈ N the following equalities hold: pk pk xN3k xN , pk xN3k1 xN1 , xN3k2 xN2 . 4.6 Proof. We will only consider 4.3, because similar proof can be given to 4.4. The case k 1 obviously holds due to 4.5. Next assume that 4.6 holds for 1 ≤ k ≤ m for some m ∈ N. Then by 4.3 we derive xN3m1 max , p xN3m2 xN3m1 max xN3m11 max ⎧ ⎨ 1 , p xN2 max pm 1 1 , p xN3 xN2 ⎫ ⎬ N3 N2 p m p m p xN4 xN1 , ⎩ xp p m 1 1 , p xN4 1 xN3 4.7 m1 ⎧ ⎫ ⎨ 1 1 1 ⎬ max , , m m1 p ⎩ xp ⎭ xN3m1 ⎭ x ⎧ ⎨ N3m11 max pm1 ⎧ ⎫ ⎨ 1 1 ⎬ , , max ⎩ xpm1 xpm ⎭ xN3m2 ⎭ 1 N3m1 N1 N2 xN3 xN , xN1 1 ⎧ ⎫ ⎨ 1 1 ⎬ max , ⎩ xpm1 xpm ⎭ p m 1 ⎩ xp xN3m12 max 1 1 ⎫ ⎬ N4 pm N3 pm1 xN5 xN2 . Thus 4.6 holds for k m 1, finishing the inductive proof of the lemma. Proposition 4.3. Let xn n∈N0 be a solution to 4.3 with p > 1 and positive initial values x−2 , x−1 , then for each k ∈ N0 the following statements hold true. Abstract and Applied Analysis 11 p pk1 p pk1 pk2 pk1 1 If x−2 > x−1 , x−1 ≥ 1, then x3k 1/x−1 , x3k1 x−1 , x3k2 x−1 . pk pk1 2 If x−2 > x−1 , x−1 < 1, then x3k 1/x−1 , x3k1 1/x−1 , x3k2 x−1 . p pk p pk1 3 If x−2 ≤ x−1 , x−2 x−1 ≥ 1 then x3k 1/x−2 , x3k1 x−2 and pk x3k2 x−2 if x−2 ≥ 1 or p 1 pk2 x−2 if x−2 < 1. pk p 4.8 pk1 4 If x−2 ≤ x−1 , x−2 x−1 < 1 then x3k1 1/x−1 , x3k2 x−1 and pk x3k3 x−1 if x−1 ≥ 1 or 1 pk2 x−1 if x−1 < 1. 4.9 p Proof. 1 By the assumption x−2 > x−1 and 4.3 it follows that 1 1 x0 max p , x x−1 −2 1 p x−1 4.10 . Then by x−1 > 1 and 4.3, we have the following equalities: 1 p2 p2 max x−1 , x−1 , x−1 ⎧ ⎫ ⎨ 1 ⎬ 1 1 p p x−1 , max x2 max p , , x ⎩ xp3 −1 ⎭ x1 x0 1 1 x1 max p , x0 x−1 −1 ⎧ ⎫ ⎨ 1 1 1 1 1 ⎬ p max p2 x0 , , p2 x3 max p , 2 p ⎩x x ⎭ x x2 x1 −1 −1 −1 1 1 1 p3 p3 p x4 max p , max x−1 , p x−1 x1 , x3 x2 x−1 ⎧ ⎫ ⎨ ⎬ 2 1 1 1 p p2 p max x5 max p , x , x x2 . 4 −1 −1 ⎩ xp ⎭ x x3 4 4.11 −1 Hence 4.5 is satisfied for N 0. Then by Lemma 4.2 we have that pk1 x3k 1/x−1 , as desired. pk2 x3k1 x−1 , pk1 x3k2 x−1 , k ∈ N0 , 4.12 12 Abstract and Applied Analysis 2 By similar calculations as in 1, the following equalities hold: x0 1 x1 p , x−1 x4 1 , x−1 1 p x−1 p x2 x−1 , p x1 , x5 x3 p2 x−1 1 p2 x−1 p x0 , 4.13 p x2 . Thus 4.5 holds for N 0, and the result follows again by Lemma 4.2. p 3 By the assumption x−2 ≤ x−1 and 4.3 it follows that 1 x0 max p , x−1 x−2 1 1 . x−2 4.14 p Then from x−2 x−1 ≥ 1 and 4.3, we get 1 1 x1 max p , x0 x−1 1 p p max x−2 , x−2 . x−1 4.15 Now we will consider two cases x−2 ≥ 1 and x−2 < 1. When x−2 ≥ 1, the following equalities hold: 1 1 x2 max p , x1 x0 ⎧ ⎫ ⎨ 1 ⎬ max , x x−2 , −2 ⎩ x p2 ⎭ 1 4 −2 1 1 1 1 p x3 max p , max p , p p x0 , x2 x1 x−2 x−2 x−2 1 1 1 p2 p2 p max x−2 , x−2 x1 , x4 max p , x x −2 x3 2 ⎧ ⎫ ⎨ 1 ⎬ 1 1 p p p max x−2 x2 . x5 max p , , x 3 −2 p ⎩ ⎭ x 3 x x 4.16 −2 On the other hand, the case x−2 < 1 leads to x2 1 p2 x−2 , x3 1 p x−2 p x0 , p2 p x4 x−2 x1 , x5 1 p3 x−2 p x2 . 4.17 Hence 4.5 holds for N 0 no matter the value of x−2 is bigger or less than one. From this the result follows by Lemma 4.2. Abstract and Applied Analysis 13 4 Through analogous calculations to 3, if x−1 ≥ 1 then x0 1 , x−2 x4 1 p x−1 x1 1 , x−1 p x2 x−1 , p2 p x1 , p x3 x−1 , p x5 x−1 x2 , 4.18 p x6 x−1 x3 . If x−1 < 1 then x0 1 , x−2 x4 1 p x−1 x1 p x1 , 1 , x−1 x5 p x2 x−1 , p2 x−1 p x2 , x3 x6 1 p3 x−1 1 p2 , x−1 4.19 p x3 . Hence 4.5 holds for N 1 and any x−1 > 0. Hence, the results also follow from Lemma 4.2, finishing the proof of the proposition. The next proposition can be similarly proved as the proof of Proposition 4.3, hence the proof is omitted here. Proposition 4.4. Let xn n∈N0 be a solution to 4.4 with p > 1 and positive initial values x−2 , x−1 , then for each k ∈ N0 the following statements hold true. p pk p pk pk pk1 1 If x−2 ≥ x−1 , x−1 ≥ 1, then x3k 1/x−1 , x3k1 x−1 , x3k2 −1 . pk1 pk1 2 If x−2 ≥ x−1 , x−1 < 1, then x3k 1/x−1 , x3k1 1/x−1 , x3k2 x−1 . pk1 p pk1 3 If x−2 < x−1 , x−2 x−1 ≥ 1 then x3k 1/x−2 , x3k1 x−2 , and x3k2 ⎧ pk2 ⎪ ⎪ ⎨x−2 1 ⎪ ⎪ ⎩ pk1 x−2 if x−2 ≥ 1, pk1 p 4.20 if x−2 < 1. pk1 4 If x−2 < x−1 , x−2 x−1 < 1 then x3k1 1/x−1 , x3k2 x−1 , and x3k3 ⎧ pk2 ⎪ ⎪ ⎨x−1 1 ⎪ ⎪ ⎩ pk1 x−1 if x−1 ≥ 1, if x−1 < 1. 4.21 Remark 4.5. From the above propositions, we know that any positive solution xn n∈N0 to 4.3 or 4.4 can be divided into three subsequences which have explicit expressions. 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