Abstract
This study establishes new upper bounds for the mean curvature and constant sectional curvature on Riemannian manifolds for the first positive eigenvalue of the q-Laplacian. In particular, various estimates are provided for the first eigenvalue of the q-Laplace operator on closed orientated -dimensional special contact slant submanifolds in a Sasakian space form, , with a constant -sectional curvature, . From our main results, we recovered the Reilly-type inequalities, which were proven before this study.
Keywords:
slant submanifolds; Reilly-type inequality; q-Laplacian; eigenvalue estimates; Sasakian space form MSC:
53C20; 53C21; 53C40; 58J05; 58J32; 58J90
1. Introduction and Statement of Main Results
Let be a compact Riemannian manifold. Then, the spectrum of the Dirichlet problem for is the set of real numbers such that
where the boundary condition has a non-trivial solution. The constant is called an eigenvalue and is called an eigenfunction corresponding to (for more details, see [1]). The set of eigenvalues of the Laplacian is an increasing sequence, i.e., , where are the eigenvalues of . A significant part of the spectral differential geometry is estimating the first eigenvalue. One of the primary tools in the study of the Dirichlet eigenvalues is the max–min principle, and the first eigenvalue minimizes the Dirichlet energy. Let be an l-dimensional Riemannian manifold; then, the first eigenvalue of , including its variational properties, is characterized by
It is crucial to determine the different bounds for the Laplacian eigenvalue on a particular manifold in Riemannian geometry. We are interested in examining eigenvalues that show up as solutions to the Dirichlet or Neumann boundary value problems for curvature functions. Dirichlet’s perspective on the Laplacian shows that determining the upper bound of the eigenvalue is a method used to locate the proper bound for a particular manifold when there are a variety of boundary conditions. It has become more popular in recent years to obtain an eigenvalue for the q-Laplace and the Laplace operations. If the first eigenvalue on with a Dirichlet boundary is given by , where is a compact domain in the complete non-compact Riemannian manifold, , then we have
Here, stands for the Laplacian on . Then, can be expressed as The Reilly formula only applies to the manifold’s inherent geometry and definitely to the particular PDE being examined. With the help of the example below, you can easily comprehend this. If denotes the first eigenvalue with respect to the Neumann boundary condition on a compact l-dimensional Riemannian manifold , we have
where N stands for the outward unit normal to . A result of Reilly [2] proved the following famous upper bound inequality for the Laplacian operator associated with the first non-zero eigenvalue, .
for the Riemannian submanifold isometrically embedded in the Euclidean space , including the mean curvature, , with dimensions denoted by l and m, respectively. In this case, the submanifold is connected, closed, and oriented, and the boundary satisfies .
After the discovery of inequality (3), many authors were inspired to create such problems for various ambient settings, as can be observed in the literature, for example, for Minkowski spaces [3]; for the integral curvature conditions on the closed Riemannian manifold [4] of the q-Laplacian; in hyperbolic spaces [5], with some integral conditions imposed on mean curvature; for product manifolds [6] for the Hodge Laplacian operator; for Euclidean space, a unit sphere, or even a projective space [7]; for the q-Laplacian operator that generalized (3) on Kaehler manifolds [8]; and for the Wentzel–Laplace operator in Euclidean space [9]. Motivated by the literature, the following upper bound of the first eigenvalue, , of the Laplacian is established in [2,10] for the simply connected space form , which contains a constant curvature, :
where stands for a closed and orientable submanifold of dimension l in It is easy to study that the inequality (4) is generalized for the Euclidean space with , the unit sphere with , and the hyperbolic space , respectively. The equality case holds in (4) ⟺ is minimal in a geodesic sphere of radius of with , and .
Next, the inequality (4) is extended for the p-Laplacian operator in [11,12], as given by the results in [2], where expanded applications were assumed. Similar results can be found in [13,14,15,16,17,18,19,20,21,22,23,24,25,26] through the work of [2]. We have the following definition:
The q-Laplacian operator for satisfies the above equation. If we substitute in (5), then it becomes the usual Laplacian. Similarly, the eigenvalue of is as follows:
for the Dirichlet boundary problem (1) (or Neumann problem (2)). The first non-zero eigenvalue, , of for a Riemannian manifold, , with no boundary demonstrates the variational characteristic of the Rayleigh-type manifold [27]:
Therefore, influenced by the studies of [9,11,12,28], we will give a precise estimate of the q-Laplacian’s first eigenvalue on the special contact slant submanifold of the Sasakian space form , given as:
Theorem 1.
Let be an -dimensional closed orientated special contact slant submanifold in a Sasakian space form, . The first non-zero eigenvalue, , of the q-Laplacian satisfies
Furthermore, this equality holds if and only if and is minimally immersed in a geodesic sphere of radius of with , and .
The Reilly-like inequality (3) will be generalized for the case of the q-Laplacian for all values of in this paper.
The manuscript’s plan is organized in the following pattern. Section 2 shows the structural equations for a special contact slant submanifold, , in . This section also indicates the change in geometric quantities as the metric on changes under a conformal transformation. The proof of Theorem 1 is given in Section 3, where we find suitable test functions through a conformal transformation to a unit sphere.
2. Preliminaries and Notations
An almost contact manifolds are odd-dimensional, -manifold , with an almost contact structure that satisfies the succeeding properties:
for any and that belong to . Under the above structure conditions, the almost contact manifold is a Sasakian manifold [29,30] if
This indicates that
where ∇ indicates the Riemannian connection in regard to g and and are any vector fields on . Therefore, the curvature tensor for Sasakian Space forms with a -sectional constant curvature as follows:
for any arbitrary and belonging to . For more detail, go to [29,30,31,32,33]. The Gauss equation is defined as:
Assuming that is an -dimensional special contact slant submanifold of a -dimensional Sasakian space form, , we have written for any such that and are tangential and normal parts of . If the angle between and is a constant angle for any point tangent to and any vector field that is linearly independent, then the submanifold is said to be -slant, and has a position between 0 and [34]. A proper contact -slant submanifold is a special contact -slant submanifold if the following equation is satisfied:
The orthonormal basis of is given as and the orthonormal basis of is defined as with for . We write for and . For a special contact slant submanifold, one can define for all . We can write the tangential component as follows:
Next, we quickly provide some clarification on the curvature tensor for a slant submanifold in a Sasakian space form, , which is given by:
An analysis of special contact slant submanifolds and conformal geometry is presented. Convection has been applied to this particular range of indices. However, it should be excluded in a manner that ensures
2.1. Structure Equations for Special Contact Slant Submanifolds
From to a Riemannian manifold , the totally real immersion is denoted by x. An induced metric on is given as . Here, ∇ and specify the Levi-Civitas connections on and . We consider an orthogonal frame on in a way that and are tangent and normal to , respectively. The structural equation of , with as dual co-frame of , is given as the following
where depicts the connection forms on , whereas are the required apparatuses of the curvature tensor of . We can denote the following:
Then, restricted to , we have
where are the components of the curvature tensor of and are the components of the second fundamental form of in . By considering x and using (21) and (22), we obtain the Gauss equations for a special contact slant submanifold in a Sasakian space form, , taking into account (18):
For the -slant submanifold , we have, from the above,
As we know, and . On the other hand, . Also, since is a special slant submanifold, , so we use all the above conclusions and find the following by taking the trace of Equation (24)
where R is the scalar curvature of , is the squared norm of the second fundamental form, and is the mean curvature vector of .
2.2. Conformal Relations
This section discusses how curvature and the second fundamental form change with respect to a conformal transformation. These relations are well known (cf. [35,36]), and a brief proof using the method of moving frames is presented here for the readers’ convenience.
Suppose that is endowed with a new metric , which is conformal to for . Then, is an orthogonal frame of , and is the dual co-frame of . The structure equations of are given by
where are the connection forms on . We denote the following
Then, restricted to , we have
and
where are the components of the curvature tensor of , and are the components of the second fundamental form of in . From (22) and (26), we arrive at
where is the covariant derivative of with respect to . Next, formulating these from (22), (29), and (30):
By pulling back (30) to by x and using (21) and (29), we have
From this, it is easy to obtain a useful relation:
3. Proof of Main Result
Theorem 1 announced in the preceding section will be demonstrated in this section. Prior to that, some basic formulas will be introduced, and certain pertinent lemmas from [23] will be brought back to our context. We will present a key lemma for the paper’s proposals, which is principally inspired by the research in [23].
Lemma 1.
Let be the immersion from an -dimensional closed orientated special contact slant submanifold into a -dimensional Sasakian space form, . Then, for , there exists a regular conformal map, , such that the immersion satisfies
Proof.
The main idea of Lemma 1 is inspired by the case (cf. [37,38]) and the case (cf. Lemma 3.1 in [11,23]). □
We deliver an upper bound for in terms of the conformal function, compared with Lemma 2.7 in [23], in the above Lemma 1 by producing a test function.
Lemma 2.
Let be an -dimensional closed orientated special contact slant submanifold in a Sasakian space form, . Denote by the standard metric on and assume , where Γ is the conformal map in Lemma 1. Then, we have, for all ,
Proof.
Considering Lemma 1, we have the choice to make the test function, so
Note that if , then . We achieve
By applying , we obtain
Applying the Hölder inequality together with (36)–(38), we obtain
This results in what we want (35). On the other hand, if we select , then by invoking the Hölder inequality, we derive
And the outcome we obtain is
Minkowski’s inequality gives
Therefore, (35) follows from (36), (40), and (41). The proof of the lemma is complete. □
This has brought us to a position to demonstrate Theorem 1.
3.1. Proof of Theorem 1
To begin with, , so . By using Lemma 2 and applying the Hölder inequality, we obtain
can be calculated using both the conformal relations and Gauss equations. Let where as before. From (25), the Gauss equations for the immersion x and the special contact slant immersion are, respectively,
Tracing (31), it can be found that
which, when jointly substituting (42) and (43) into (44), gives
From here, it follows that
From (32) and (33), we obtain
Multiplying the preceding equation by implies that
By integration, it is not difficult to check that
The goal was to demonstrate that the result above is comparable to (8). For the case where , we cannot apply the Holder inequality directly to control by using . We must multiply both sides of (46) with the factor and then solve by integrating (cf. [17]).
Secondly, this follows from the fundamental idea that . We apply Young’s inequality, and then
From this, we deduce
from (47) and (48). Putting (49) into (35), we obtain (9). The special contact slant submanifolds for which the equality in (8) holds can be determined by considering the cases in (36) and (38). From this, it follows that
for each . The case implies or 1. Then, there is only one a for which and , which informs a contradiction as the eigenvalue is non-zero. In view of this, the case is considered, and we are only restricted to the Laplacian case. Consequently, we are able to apply Theorem 1.5 from [7].
For the case , and if the equality in (9) remains valid, then it shows that (40) and (41) become the equalities that yield
and the condition holds for existing values of a. This implies that is constant and is equal to zero. This final outcome is contradictory in that the eigenvalue is non-zero. This proof is complete.
3.2. Conclusion Remarks
Remark 1.
Setting in the estimate recovers the following corollary.
Corollary 1.
Let be an -dimensional closed orientated special contact slant submanifold in a -dimensional Sasakian space form, . Then, the first non-zero eigenvalue, , of the Laplacian satisfies
where is the mean curvature vector of in and is the volume of . Furthermore, this equality holds in (50) if and only if it is minimally immersed in a geodesic sphere of radius of with , and .
Remark 2.
Assuming that , we have . Then, from the inequality, we have
This is an immediate application of Theorem 1 by using Remark 2 as a Sasakian space form.
Corollary 2.
Let be an -dimensional closed orientated special contact slant submanifold in a -dimensional Sasakian space form, . The first non-zero eigenvalue, , of the q-Laplacian satisfies
for .
Remark 3.
It is generally known that when conventional Sasakian structures are taken into account, and can be viewed as canonical examples of Sasakian space forms with constant sectional curvatures, and respectively.
According to the above remark, we have another remark.
Remark 4.
Given the value and reverting to the inequality (51), one sees that (51) generalizes the Reilly-type inequality (50). From this, we know that the Reilly-type inequality computes the first Laplacian eigenvalue on a special contact slant submanifold in a Euclidean sphere, . For example, Theorem 1.2 in [7] and Theorem 1.3 in [11] are cases of Theorem 1 for and .
Based on these observations, the next result is given as a special from of Theorem 1. Specifically, we found certain results by substituting in (8) and (9), respectively.
Corollary 3.
Let be a Sasakian space form with a -sectional constant curvature of one, and let be a special contact slant submanifold in of dimension that is closed and orientated. Then, the connection between the first positive eigenvalue, , of the q-Laplacian and the mean curvature, , satisfies
We have one more corollary, which is constructed on Corollary 2 and given as follows.
Corollary 4.
Let be a Sasakian space form with a -sectional constant curvature of one, and let be a Legendrian submanifold in of dimension that is closed and orientated. Then, the connection between the first positive eigenvalue, , of the q-Laplacian and the mean curvature, , satisfies
for .
4. Conclusions Remark
If a domain has Dirichlet boundary conditions, then the Dirichlet eigenvalues are the same as the Laplace eigenvalues. In different branches of mathematics, such as differential geometry, number theory, and mathematical physics, these eigenvalues have important implications. In addition, they are capable of characterizing the geometry of a given space. One Dirichlet eigenvalue represents the domain’s diameter, while higher ones reflect its curvature and its location within Euclidean space. As well as determining the eigenfunctions of the solution, Dirichlet’s eigenvalues will also determine the rate at which the solution decays. To find more motivation for our work, we refer the reader to a number of papers [39,40,41,42,43,44,45,46].
Author Contributions
Conceptualization, A.A. (Abimbola Abolarinwa) and F.M.; methodology, A.A. (Abimbola Abolarinwa) and Y.L.; software, F.M.; validation, A.A. (Abimbola Abolarinwa), F.M. and A.A. (Akram Ali); formal analysis, A.A. (Abimbola Abolarinwa); investigation, N.A.; resources, A.A. (Akram Ali); data curation, A.A. (Abimbola Abolarinwa); writing—original draft preparation, A.A. (Abimbola Abolarinwa); writing—review and editing, A.A. (Akram Ali); visualization, Y.L.; supervision, N.A; project administration, F.M. and Y.L.; funding acquisition, A.A. (Abimbola Abolarinwa). All authors have read and agreed to the published version of the manuscript.
Funding
The last author would like to express his gratitude to the Deanship of Scientific Research at King Khalid University, Saudi Arabia, for providing a funding research group under the research grant number R.G.P2/91/44.
Data Availability Statement
There are no data used for the above study.
Acknowledgments
The authors would like to extend their appreciation to the Deanship of Scientific Research at King Khalid University, Saudi Arabia, for providing a funding research group.
Conflicts of Interest
The authors declare no conflict of interest.
References
- Gallot, S.; Hulin, D.; Lafontaine, J. Riemannian Geometry; Springer: Berlin, Germany, 1990; Volume 2. [Google Scholar]
- Reilly, R.C. On the first eigenvalue of the Laplacian for compact submanifolds of Euclidean space. Comment. Math. Helv. 1977, 52, 525–533. [Google Scholar] [CrossRef]
- Zeng, F.; He, Q. Reilly-type inequalities for the first eigenvalue of p-Laplcian of submanifolds in Minkowski spaces. Mediterr. J. Math. 2017, 14, 218. [Google Scholar] [CrossRef]
- Seto, S.; Wei, G. First eigenvalue of the p-Laplacian under integral curvature condition. Nonlinear Anal. 2017, 163, 60–70. [Google Scholar] [CrossRef]
- Lin, H. Eigenvalue estimate and gap theorems for submanifolds in the hyperbolic space. Nonlinear Anal. 2017, 148, 126–137. [Google Scholar] [CrossRef]
- Xiong, C. Eigenvalue estimates of Reilly type in product manifolds and eigenvalue comparison of strip domains. Diff. Geom. Appl. 2018, 60, 104–115. [Google Scholar] [CrossRef]
- Du, F.; Mao, J. Reilly-type inequalities for p-Laplacian on compact Riemannian manifolds. Front. Math. China 2015, 10, 583–594. [Google Scholar] [CrossRef]
- Blacker, C.; Seto, S. First eigenvalue of the p-Laplacian on Kaehler manifolds. Proc. Amer. Math. Soc. 2019, 147, 2197–2206. [Google Scholar] [CrossRef]
- Du, F.; Wang, Q.; Xia, C. Estimates for the eigenvalue of the Wentzel-Laplacian operator. J. Geom. Phy. 2018, 129, 25–33. [Google Scholar] [CrossRef]
- Soufi, A.E.; Ilias, S. Une inegalite du type “Reilly” pour les sous-varietes de l‘espace hyperbolique. Comment. Math. Helv. 1992, 67, 167–181. [Google Scholar] [CrossRef]
- Chen, H.; Wei, G. Reilly-type inequalities for p-Laplacian on submanifolds in space forms. Nonlinear Anal. 2019, 184, 210–217. [Google Scholar] [CrossRef]
- Chen, H.; Wang, X. Sharp Reilly-type inequalities for a class of elliptic operators on submanifolds. Diff. Geom. Appl. 2019, 63, 1–29. [Google Scholar] [CrossRef]
- Ali, A.; Lee, J.W.; Alkhaldi, A.H. The first eigenvalue for the p-Laplacian on Lagrangian submanifolds in complex space forms. Internat. J. Math. 2022, 33, 2250016. [Google Scholar] [CrossRef]
- Ali, A.; Alkhaldi, A.H.; Laurian-Ioan, P.; Ali, R. Eigenvalue inequalities for the p-Laplacian operator on C-totally real submanifolds in Sasakian space forms. Appl. Anal. 2022, 101, 702–713. [Google Scholar] [CrossRef]
- Alkhaldi, A.H.; Khan, M.A.; Aquib, M.; Alqahtani, L.S. Estimation of Eigenvalues for the ψ-Laplace Operator on Bi-Slant Submanifolds of Sasakian Space Forms. Front. Phys. 2022, 10, 252. [Google Scholar] [CrossRef]
- Cavalletti, F.; Mondino, A. Sharp geometry and functional inequalities in metric measure spaces with lower Ricci curvature bounds. Geom. Topol. 2017, 21, 603–645. [Google Scholar] [CrossRef]
- Chen, D.; Li, H. Second eigenvalue of paneitz operators and mean curvature. Comm. Math. Phys. 2011, 305, 555–562. [Google Scholar] [CrossRef]
- Cheng, S.Y. Eigenvalue comparison theorems and its geometric applications. Math. Z. 1975, 143, 289–297. [Google Scholar] [CrossRef]
- He, Y. Reilly type inequality for the first eigenvalue of the Lr;F operator. Diff. Geom. Appl. 2013, 31, 321–330. [Google Scholar] [CrossRef]
- Khan, M.A.; Alkhaldi, A.H.; Aquib, M. Estimation of eigenvalues for the α-Laplace operator on pseudo-slant submanifolds of generalized Sasakian space forms. AIMS Math. 2022, 7, 16054–16066. [Google Scholar] [CrossRef]
- Li, Y.; Ali, A.; Mofarreh, F.; Abolarinwa, A.; Ali, R. Some eigenvalues estimate for the ϕ-Laplace operator on slant submanifolds of Sasakian space forms. J. Funct. Spaces 2021, 2021, 6195939. [Google Scholar]
- Li, Y.; Mofarreh, F.; Agrawal, R.P.; Ali, A. Reilly-type inequality for the Ψ-Laplace operator on semi slant submanifolds of Sasakian space forms. J. Inequal. Appl. 2022, 2022, 102. [Google Scholar] [CrossRef]
- Matei, A.M. Conformal bounds for the first eigenvalue of the p-Laplacian. Nonlinear Anal. 2013, 80, 88–95. [Google Scholar] [CrossRef]
- Naber, A.; Valtorta, D. Sharp estimates on the first eigenvalue of the p-Laplacian with negative Ricci lower bound. Math. Z. 2014, 277, 867–891. [Google Scholar] [CrossRef]
- Alluhaibi, N.; Ali, A. The eigenvalue estimates of p-Laplacian of totally real submanifolds in generalized complex space forms. Ric. Mat. 2021. [Google Scholar] [CrossRef]
- Valtorta, D. Sharp estimates on the first eigenvalue of the p-Laplacian. Nonlinear Anal. 2012, 75, 4974–4994. [Google Scholar] [CrossRef]
- Veron, L. Some existence and uniqueness result for solution of some quasilinear elliptic equations on compact Riemannian manifolds. In Colloquia Mathematica Societatis János Bolyai; Differential Equation and Its Applications (Budapest 1991); North Holland: Amsterdam, The Netherlands, 1991; pp. 317–352. [Google Scholar]
- Iordanescu, R.; Nichita, F.F.; Pasarescu, O. Unification theories: Means and generalized Euler formulas. Axioms 2020, 9, 144. [Google Scholar] [CrossRef]
- Ali, A.; Laurian-Ioan, P. Geometric classification of warped products isometrically immersed in Sasakian space forms. Math. Nachr. 2018, 292, 234–251. [Google Scholar]
- Sasahara, T. A class of b-minimal Legendrian submanifolds in Sasakian space forms. Math. Nachr. 2014, 287, 79–90. [Google Scholar] [CrossRef]
- Chen, B.Y.; Ogiue, K. On totally real submanifolds. Trans. Amer. Math. Soc. 1974, 193, 257–266. [Google Scholar] [CrossRef]
- Hu, Z.; Li, M.; Xing, C. On C-totally real minimal submanifolds of the Sasakian space forms with parallel Ricci tensor. Rev. Real Acad. Cienc. Exactas Fis. Nat. Ser. A-Mat. 2022, 116, 163. [Google Scholar] [CrossRef]
- Xing, C.; Zhai, S. Minimal Legendrian submanifolds in Sasakian space forms with C-parallel second fundamental form. J. Geom. Phys. 2023, 187, 104790. [Google Scholar] [CrossRef]
- Mihai, A.; Radulescu, I.N. Scalar and Ricci curvatures of special contact slant submanifolds in Sasakian space forms. Adv. Geom. 2014, 14, 147–159. [Google Scholar] [CrossRef]
- Chen, B.Y. Geometry of submanifolds. In Pure and Applied Mathematics; No. 22; Marcel Dekker, Inc.: New York, NY, USA, 1973. [Google Scholar]
- Chen, B.Y. Some conformal invariants of submanifolds and their applications. Boll. Un. Mat. Ital. 1974, 10, 380–385. [Google Scholar]
- Soufi, A.E.; Ilias, S. Second eigenvalue of Schrodinger operators and mean curvature. Comm. Math. Phys. 2000, 208, 761–770. [Google Scholar] [CrossRef]
- Li, P.; Yau, S.T. A new conformal invariant and its applications to the Willmore conjecture and the first eigenvalue of compact surfaces. Invent. Math. 1982, 69, 269–291. [Google Scholar] [CrossRef]
- Li, Y.; Gupta, M.K.; Sharma, S.; Chaubey, S.K. On Ricci Curvature of a Homogeneous Generalized Matsumoto Finsler Space. Mathematics 2023, 11, 3365. [Google Scholar] [CrossRef]
- Li, Y.; Güler, E. A Hypersurfaces of Revolution Family in the Five-Dimensional Pseudo-Euclidean Space . Mathematics 2023, 11, 3427. [Google Scholar] [CrossRef]
- Li, Y.; Mak, M. Framed Natural Mates of Framed Curves in Euclidean 3-Space. Mathematics 2023, 11, 3571. [Google Scholar] [CrossRef]
- Li, Y.; Patra, D.; Alluhaibi, N.; Mofarreh, F.; Ali, A. Geometric classifications of k-almost Ricci solitons admitting paracontact matrices. Open Math. 2023, 21, 20220610. [Google Scholar] [CrossRef]
- Li, Y.; Güler, E. Hypersurfaces of revolution family supplying in pseudo-Euclidean space. AIMS Math. 2023, 8, 24957–24970. [Google Scholar] [CrossRef]
- Li, Y.; Mofarreh, F.; Abdel-Baky, R.A. Kinematic-geometry of a line trajectory and the invariants of the axodes. Demonstr. Math. 2023, 56, 20220252. [Google Scholar] [CrossRef]
- Li, J.; Yang, Z.; Li, Y.; Abdel-Baky, R.A.; Saad, M.K. On the Curvatures of Timelike Circular Surfaces in Lorentz-Minkowski Space. Filomat 2024, 38, 1–15. [Google Scholar]
- Li, Y.; Güler, E. Twisted Hypersurfaces in Euclidean 5-Space. Mathematics 2023, 11, 4612. [Google Scholar] [CrossRef]
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content. |
© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).