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Fractals and The Julia Set
Fractals and The Julia Set
Contents
1 Fractals 2
1.1 Topological Dimension . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Hausdorff Dimension . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Fractals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Typical Features of a Fractal Set . . . . . . . . . . . . . . . . 5
2 Julia Sets 6
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Normal Families and Montel’s Theorem . . . . . . . . . . . . . 7
2.3 Normality of Iterates of f . . . . . . . . . . . . . . . . . . . . 8
2.4 The Filled Julia Set . . . . . . . . . . . . . . . . . . . . . . . . 12
1
1 Fractals
To be able to pinpoint our idea of what we define as a fractal, we must first
formalise our idea of dimension, as applied to a topological space.
2
where ∞
X
Hδs = inf{ |Ui |s : Ui is a δ-cover of F }
i=1
Hs (F )
0
0 dimH (F )
s
3
Theorem 1.6. If F ⊂ Rn and λ > 0 then
Hs (λF ) = λs Hs (F )
since this holds for any δ-cover {Ui }. Letting δ → 0 gives that Hs (λF ) ≤
λs Hs (F ). Replacing λ by λ1 and F by λF gives the opposite inequality
required.
1.3 Fractals
Definition 1.7. A set F is defined to be a Fractal if it has a Hausdorff
Dimension greater than its Topological Dimension
So let us consider an example of a set with this property
Example 1.8. Let F0 be the unit interval [0, 1] as a subset of the reals. Let
Fn+1 be equal to the set Fn with the middle third of each interval making it up
removed. For example, F1 = [0, 31 ]∪[ 23 , 1] and F2 = [0, 91 ]∪[ 29 , 13 ]∪[ 32 , 79 ]∪[ 98 , 1].
This means that Fn consists of T 2n intervals, each of length 3−n . The middle
third cantor set, F , is equal to ∞ n=0 Fn .
The set F clearly has a topological dimension of 0, but what of its Haus-
dorff Dimension? First, it is prudent to notice that the set is self-similar.
That is to say that if you were to take, for example, F ∩ [1, 13 ] you would
find that it is the same as F . So, consider the two subsets of the cantor set -
Fl = F ∩ [1, 13 ] and Fr = F ∩ [ 23 , 1]. Clearly, F = Fl ∪ Fr and the two sets Fl
and Fr are disjoint. Assume that the set F has Hausdorff Dimension d, then,
since the sets Fl and Fr are dijoint and Borel, Hd (F ) = Hd (Fl ) + Hd (Fr ).
Furthermore, by Theorem 1.6,
1 1
Hd (Fl ) + Hd (Fr ) = ( )s Hs (F ) + ( )s Hs (F )
3 3
At this point, we make the assumption3 that at s = dimH F we have that
log 2
0 < Hs (F ) < ∞, and so by dividing by Hs (F ), we get 1 = 2( 31 )s ⇒ s = log 3
.
log 2
Note that dimH F = log 3 ≈ 0.63 > 0 = dimT F , and so the middle third
cantor set is a fractal set.
2
From [1]
3
This assumption is proven true in Example 2.7 on page 31 of [1]
4
1.4 Typical Features of a Fractal Set
There are a number of characteristics which are typical to Fractal sets:
1. Self similarity is one of the main features that Fractal sets have4 , of
which there are 3 different types:
Exact self similarity is where the fractal appears identical at different
scales - for example in the middle third cantor set, the set F is identical
to F ∩ [0, 13 ] which is itself identical to F ∩ [0, 19 ] and so on. This tends
to be typical of fractals formed by geometric replacement rules.
Quasi-self similarity is where the fractal appears approximately iden-
tical at different scales - they contain small copies of the entire fractal
in a distorted form.
Statistical self similarity is where a fractal preserves a statistical mea-
sure at all scales, and is a feature of random fractals, but is an area I
will not be going into in this essay.
2. Fractal sets also tend to have a fine structure - that is to say they have
detail at arbitrary levels of viewing - for example, the middle third
cantor set has as much detail in the section F ∩ 31n as it does as a
whole.
3. Fractal sets tend to have straightforward definitions, even though they
have a fine structure.
4. Fractal sets tend to5 have non-integer hausdorff dimension6 , meaning
that if you were to measure their length or area (etc) in a classical
sense, you would get an answer of either 0 or ∞. For example, the
middle third cantor set is an uncountably infinite set (0-dimensional
measure), with 0 length (1-dimensional measure).
5. Fractal sets tend to be defined by some sort of recursive procedure -
whether that be a geometrical rule, as in the middle third cantor set,
or some form of iterated function system or probabalistic rule.
The above features are typical of most Fractals, however to have these
characteristics does not constitute a set as a fractal (although it is a good
hint), and not all Fractal sets have all of the above characteristics.
4
Although note that being self similar does not constitute a set as a fractal - the straight
line in euclidian space, for example, is exactly self similar, but is of course not a fractal
5
There are examples of fractals with integer dimensions, for example the path of brow-
nian motion has topological dimension 1 and hausdorff dimension 2
6
The word Fractal suggests the idea of a fractional dimension, although many fractals
have dimension in the set R \ Q
5
2 Julia Sets
2.1 Introduction
First, we must define the polynomial f : C → C to be of degree n ≥ 2 and
to have complex coefficients, i.e. f (z) = c0 + c1 z + . . . + cn z n . We must now
remind ourselves of a few definitions related to interated function systems:
Definitions 2.1. f k is the k-fold composition of the function f , i.e.
fk = f ◦ . . . ◦ f
| {z }
k times
and is therefore not in the Julia set. Note now that (f k )0 (z) = 2kz 2k−1 .
Furthermore, the set Jk lies on the unit circle |z| = 1 for all k, and the
infinite union of Jk for all k is equal to the unit circle. This means that
|z m | = 1 for all z ∈ Jk , thus |(f k )0 (z)| = 2k, and is certainly greater than 1,
thus making this points repelling. The Julia Set J(z 2 ) is therefore the unit
circle |z| = 1.
7
In fact, this point is superattractive, since (f k )0 (z) = 0, but that is not relevant here
6
This is, of course, one of the special cases where the Julia Set is not a
fractal. In fact, there are only 2 such cases when looking only at Julia sets
of functions of the form fc (z) = z 2 + c, which are the most interesting ones,
and the ones I shall be using from here on8 .
In this example however, the Julia set appears to be the boundary between
2 types of behaviour of the iterated function system. Inside the Julia set,
upon repeated action of f0 , a point will tend toward 0. Outside the Julia set,
however, a point will tend toward ∞ under repeated action of f0 .
Remark 1. This is equivalent to saying that the subsequence from the family
{gk } converges to a bounded analytic function or to ∞ on each connected
component of U .
Definition 2.6. The family of complex analytic functions {gk } are normal
at the point w ∈ U if ∃ open V ⊂ U , such that w ∈ V and {gk } is normal on
V.
At this point we can now introduce Montel’s Theorem, which is the fun-
damental result on which the theory of Julia sets is based.
7
2.3 Normality of Iterates of f
At this point I will form a new set which is made up of those points at which
the function f is not normal.
Definition 2.8.
Definition 2.9.
F0 (f ) = C \ J0 (f )
= {z ∈ C : ∃ open V with z ∈ V and {f k } normal on V }
Now, since |z| > R, this implies |z| > max(3, 2|c|) ⇒ |z| > 2|c|, so:
|z|
||z|2 − |c|| ≥ ||z|2 − |
2
Similarly, |z| > 3, and so |z|2 > 3 × |z|, and so
|z| 1
||z|2 − | > (3 − )|z| > 2|z|
2 2
This all gives that if you take R = max(3, 2|c|), then |z| > R ⇒ |fc (z)| > 2|z|
as required.
Lemma 2.11. J0 (fc ) is compact
Proof. Since F0 (fc ) is open, its compliment, J0 (fc ) must be closed. By
Lemma 2.10, fck (z) → ∞ uniformly on the open set V = {z : |z| > R}.
This means that {f k } is normal on V , so V ⊂ F0 (fc ). Therefore, J0 (fc ) is
bounded, and thus compact.
8
Lemma 2.12. J0 (fc ) is non-empty
Proof. Assume that J0 (fc ) = ∅. Then, ∀r > 0 the family {fck } is normal
on the open disc Br (0). Using R from Lemma 2.10, if we take r > R then
∃z ∈ Br (0) such that z → ∞. Furthermore, if we solve fc (w) = w and take
R2 = |w|, then if r > max(R, R2 ), then ∃z ∈ Br (0) such that fck (w) = w∀k.
Therefore, it is impossible for any subsequence of {fck } to converge uniformly
to one of either a bounded analytic function or to infinity on any compact
subset of Br (0) containing both z and w, contradicting the normality of {fck }.
So J0 (fc ) 6= ∅.
For the rest of this section, take the polynomial f to mean a polynomial
of the form fc 10 .
Lemma 2.13. J0 = f (J0 ) = f −1 (J0 )
Proof. Notice first that this lemma is equivalent to saying that F0 = f (F0 ) =
f −1 (F0 ). Let V be an open set with {f k } normal on V . f continuous ⇒
f −1 (V ) is open. Now, take {f ki } as a subsequence of {f k }. Then {f ki +1 } has
0
a subsequence {f ki +1 } which is uniformly convergent on compact subsets of
V 11 . Note that if D is a compact subset of f −1 (V ), then f (D) is a compact
0
subset of V . This means that {f ki +1 } is uniformly convergent on f (D), and
0
so {f ki } is uniformly convergent on D. Thus {f k } is normal on f −1 (V ), and
so F0 ⊆ f −1 (F0 ).
The other inclusions required can be obtained in a similar way, using the
fact that f (V ) is open whenever V is open.
Lemma 2.14. J0 (f p ) = J0 (f ) ∀p ∈ Z>0
Proof. The first thing to notice for this proof is that J0 (f p ) = J0 (f ) ⇔
F0 (f p ) = F0 (f ), and the right hand side is what we shall try to prove.
Notice first that if every subsequence of {f k } has a subsequence which is
uniformly convergent on a given set, then every subsequence of {f pk }k≥1 also
has a subsequence which is uniformly continuous on that set, and so clearly
F0 (f ) ⊂ F0 (f p ).
Next, it is clear that if D is compact, and {gk } is a family of functions
uniformly convergent on D either to a bounded function or to infinity, then
the same must be true for {h ◦ gk } for a polynomial h. So, if {f pk }k≥1 is
normal on V , then so is {f r f pk }k≥1 = {f pk+r }k≥1 for r ∈ {0, 1, . . . , p − 1}.
Of course, any subsequence of {f k }k≥1 must contain an infinite subsequence
of {f pk+r }k≥1 for some r ∈ {0, 1, . . . , p−1}, which, since {f pk+r }k≥1 is normal,
10
Although note that this can be extended to all polynomials f .
11
By the definition of normal families of analytic functions
9
contains a subsequence which is uniformly convergent to a bounded function
or infinity on V . Thus, {f k } is normal, and so F0 (f ) ⊃ F0 (f p ), giving the
result.
Lemma 2.15. Let f be a polynomial.
S Let w ∈ J0 (f ). Let U be a neigh-
bourhood of w. Let W := ∞ k=1 f k
(U ). Then W is the whole of C, with
the possible exception of a single point. This point is not in J0 (f ) and is
independent of w and U .
Proof. By the definition of J0 , since w ∈ J0 (f ), it follows that {f k } is not
normal at w. Montel’s Theorem (Theorem 2.7) then implies that W is the
whole of C.
Consider a point v ∈/ W . If moreover f (z) = w, then since f (W ) ⊂ W , it
follows that z ∈
/ W . As we showed above that C \ W consists of at most one
point, then it follows that z = v. Thus f must be a polynomial of degree n,
where the only solution of f (z) − v = 0. So, f (z) − v = c(z − v)n for some
c ∈ R.
Consider a z that is sufficiently close to v. It follows that f k (z) − v → 0
as k → ∞, this convergence being uniform on, say, {z : |z − v| < (2c)1/(1−n) }.
This means that {f k } is normal at v, and so v ∈ / J0 (f ). It is clear that v
depends only on f .
Corollary 2.16. If U is an open set intersecting J0 (f ) then, for all z ∈ C
with at most one exception, f −k (z) intersects U for infinitely many values of
k.
Proof. Taking z ∈ C not the exceptional point from Lemma 2.15, then z ∈
f k (U ), and so f −k (z) intersects U for some k. This can be repeated giving
an infinite sequence of k for which f −k (z) intersects U .
S
Corollary 2.17. If z ∈ J0 (f ) then J0 (f ) = ( ∞ k=1 f
−k (z)).
10
Proof. Let v ∈ J0 (f ) and let U be a neighbourhood of v. We must show
∃v 6= w ∈ J0 (f ), with w ∈ U . Consider 3 cases.
1. v is not a periodic point of f . Combining Corollary 2.17 and Lemma
2.13, it is clear that U contains a point from f −k (v) ⊂ J0 (f ) for some
k ≥ 1, and since v is not a fixed point, this point must not equal v.
2. f (v) = v. If f (z) = v has no other solution that v, then, as in Lemma
2.15, v ∈
/ J0 (f ). Therefore ∃w 6= v such that f (w) = v. By Corollary
2.17, U contains a point of f −k (w) for some k ≥ 1. This point, by
Lemma 2.13, is in J0 (f ) and is distinct from v since f k (v) = v.
3. f p (v) = v, p > 1. By Lemma 2.14, J0 (f ) = J0 (f p ), so we can use the
method for case 2 on f p instead of f , giving the result required.
This case analysis shows that J0 (f ) has no isolated points, and it is closed
since F0 (f ) is clearly open13 , and so is perfect.
Theorem 2.20. If f is a polynomial, then J(f ) = J0 (f )
Proof. Let w be a repelling periodic point14 , period p, of f . It follows that
w must therefore be a repelling fixed point of g := f p . Suppose that {g k } is
normal at w. This implies that w has an open neighbourhood V on which
a subsequence {g ki } of {g k } converges to a finite analytic function g0 , or
infinity. Since g k (w) = w for all k, the analytic function that the subsequence
converges to must map g0 (w) = w, and so cannot be infinite. By a result
from complex analysis, the derivates must also converge15 , and so (g ki )0 (z) →
g00 (z)∀z ∈ V . By the chain rule, |(g ki )0 (w)| = |(g prime (w))( ki )|. However,
since w is a repelling fixed point, and the fact that follows that |g 0 (w)| > 1,
|(g prime (w))( ki )| → ∞. This implies that g00 (w) must be infinite, which is a
contradiction, and so {g k } is not normal at w. This means that w ∈ J0 (g) =
J0 (f p ) = J0 (f ), by Lemma 2.14. Since J0 (f ) is closed, we can see that
J(f ) ⊂ J0 (f ).
Let us define a set L = {w ∈ J0 (f ) : ∃z 6= w, f (z) = w, f 0 (z) 6= 0}.
Suppose w ∈ L. It follows that there is an open neighbourhood of w, V ,
on which we can find a local analytic inverse16 f −1 : V → C \ V such that
f (f −1 (z)) = z∀z ∈ V . Define now a family of analytic functions {hk } by:
f k (z) − z
hk (z) =
f −1 (z) − z
13
Discussed in Lemma 2.11
14
Note that this means that w ∈ J(f ), and in fact covers every w from J(f ).
15
To a non-infinite function.
16
By choosing values of f −1 (z) in a continuous manner.
11
Let U be an open neighbourhood of w with U ⊂ V . Since w ∈ J0 (f ), the
family {f k } and thus the family {hk } is not normal on U . By Montel’s
Theorem (Theorem 2.7), hk (z) ∈ {0, 1} for some k and some z ∈ U 17 . If
hk (z) = 0, then f k (z) = z for some z ∈ U . If hk (z) = 1, then f k (z) = f −1 (z),
and so f k+1 (z) = z for some z ∈ U . Thus U contains a periodic point of f ,
so w ∈ J(f ).
We have shown above that L ⊂ J(f ), and so L ⊂ J(f ) = J(f ). However,
L contains all of J0 (f ) excepting a finite number of points. Since, by Lemma
2.19, J0 (f ) contains no isolated points, J0 (f ) = L ⊂ J(f ) as required.
12
Now, consider the family of analytic functions {gk } = {fck } on the open
domain U . Consider w1 , w2 ∈ {z : |z| > R}, with w1 6= w2 . Assume that
{fck } is not a normal family. Then, by Montel’s Theorem (Theorem 2.7), for
all w ∈ C, with at most one exception, fck (z) = w for some z ∈ U and some k.
fck (z) < R as shown above, but w1 > R and so w1 must be the one exception.
Similarly, w2 > R and so w2 must be the one exception, implying w1 = w2 ,
which is a contradiction, itself implying that {fck } is a normal family. So,
z ∈/ J(fc ). This, with Lemma 2.22, implies that z ∈ / ∂K(fc ) ⇒ z ∈ / J(fc ),
and so J(fc ) ⊂ ∂K(fc ).
Assume that z ∈ ∂K(fc ) \ J(fc ). Thus, we can choose a neighbourhood
U of z such that {fck } is normal. Since z ∈ K(fc ), the orbit of z is bounded,
and so no subsequence will converge to infinity. Thus normality implies
that there must exist a subsequence which converges to an analytic function
F : U → C. However, U contains points in C \ K(fc ) which by Lemma
2.22 will tend to infinity under fck as K → ∞, so giving us a contradiction.
This means our assumption was wrong, and so ∂K(fc ) \ J(fc ) = ∅ and thus
∂K(fc ) = J(fc )
13
References
[1] Falconer, K. (1999) Fractal Geometry: Mathematical Foundations and
Applications, Chichester: John Wiley & Sons Ltd.
[2] Peitgen, H-O., Jürgens, H. & Saupe, D. (1992) Fractals and Chaos: New
Frontiers of Science, New York: Springer-Verlag
[3] Bandt, C., Graf, S. & Zähle, M. (eds.) (1995) Fractal Geometry and
Stochastics, Basel: Birkhäuser Verlag
[4] Dekking, M., Vehel, J. L., Lutton, E. & Tricot, C. (1999) Fractals:
Theory and Applications in Engineering, London: Springer-Verlag
14