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736
Jane Hawkins
Rachel L. Rossetti
Jim Wiseman
Editors
Dynamical Systems and
Random Processes
16th Carolina Dynamics Symposium
April 13–15, 2018
Agnes Scott College, Decatur, Georgia
Jane Hawkins
Rachel L. Rossetti
Jim Wiseman
Editors
736
Jane Hawkins
Rachel L. Rossetti
Jim Wiseman
Editors
EDITORIAL COMMITTEE
Dennis DeTurck, Managing Editor
Michael Loss Kailash Misra Catherine Yan
2010 Mathematics Subject Classification. Primary 37D40, 37F10, 37B10, 34A99, 35J47,
37B20, 37B25, 55-04, 37A50.
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c 2019 by the American Mathematical Society. All rights reserved.
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10 9 8 7 6 5 4 3 2 1 24 23 22 21 20 19
Contents
Preface vii
List of Participants ix
Chain recurrence and strong chain recurrence on uniform spaces
Ethan Akin and Jim Wiseman 1
Towards the prediction of critical transitions in spatially extended populations
with cubical homology
Sarah L. Day and Laura S. Storch 31
Relating singularly perturbed rational maps to families of entire maps
Joanna Furno and Lorelei Koss 49
Stability of Cantor Julia sets in the space of iterated elliptic functions
Jane Hawkins 69
Pressure and escape rates for random subshifts of finite type
Kevin McGoff 97
On the complexity function for sequences which are not uniformly recurrent
Nic Ormes and Ronnie Pavlov 125
Definitions and properties of entropy and distance for regular languages
Austin J. Parker, Kelly B. Yancey, and Matthew P. Yancey 139
Good and bad functions for bad processes
Andrew Parrish and Joseph Rosenblatt 171
Isomorphisms of cubic rational maps that preserve an infinite measure
Rachel L. Rossetti 187
Orbit classification and asymptotic constants for d-symmetric covers
Martin Schmoll 201
On the collision manifold of coorbital moons
Kimberly Stubbs and Samuel R. Kaplan 239
Multivariate random fields and their zero sets
Michael Taylor 251
v
Preface
The first Carolina Dynamics Symposium, originally called the Carolina Dynam-
ics Seminar, was held at the University of North Carolina at Charlotte on April
12, 2003 and organized by Douglas Shafer of UNC Charlotte. What started as an
informal gathering of mathematicians interested in dynamical systems continued at
the College of Charleston in 2004, then moved to Chapel Hill in 2005. The meet-
ings were so beneficial to the participants’ research that the group has met every
year since, each time including new Ph.D.’s and a broader range of fields relating
to dynamics as well. We have added at least one talk aimed at undergraduates
at each meeting as well and, with the addition of NSF support, have been able to
bring in speakers from farther away.
In the intervening years the symposium has also been hosted by Clemson,
Meredith, Davidson, UNC Asheville, Furman, and Agnes Scott, with many of the
venues hosting repeat conferences. Georgia, Maryland, Virginia, and Tennessee
send participants too, so despite its name, the participants reflect the richness of
the field of dynamics throughout the southeastern U.S.
The articles contained in this volume are by the participants of the most recent
meeting at Agnes Scott College, the 16th Carolina Dynamics Symposium and the
second one held at Agnes Scott. Also included are a few papers from some col-
laborators who have been involved with Carolina Dynamics in some capacity for
many years. The papers cover a wide swath of topics in dynamics and randomness
and reflect a sampling of the breadth of the field. The editors are grateful for NSF
Grant DMS-1600746, which supported many of the authors who participated in the
event at Agnes Scott.
Jane Hawkins
Rachel L. Rossetti
Jim Wiseman
vii
List of Participants
Howie Weiss
Georgia Tech
Jim Wiseman
Agnes Scott
Undergraduate participants from Oxford
College, Emory Univ: Emily Rexer,
Justin Burton
Undergraduate participants from Agnes
Scott: Emily Smith, Yihan Jiang,
Yutong Wang, Laura Stordy, Jessa
Rhea, Angela Hong, Yuemin Zuo,
Huiming Zang
Group photo: 16th Carolina Dynamics Symposium, Agnes Scott College, April 2018
Contemporary Mathematics
Volume 736, 2019
https://doi.org/10.1090/conm/736/14831
Abstract. We extend the theory of the chain relation (based on Conley’s no-
tion of chain recurrence) and the strong chain relation (based on Easton’s
strong chain recurrence) from the setting of continuous maps on compact
spaces to general relations on uniform spaces, following the barrier function
approach introduced by Fathi and Pageault. We consider equivalent charac-
terizations of these relations, Lyapunov functions, and attractors.
1. Introduction
Let f be a continuous map on a compact metric space (X, d). If ≥ 0 then a
sequence {x0 , . . . , xn } with n ≥ 1 is an chain for f if maxni=1 d(f (xi−1 ), xi ) ≤
and a strong chain for f if Σni=1 d(f (xi−1 ), xi ) ≤ . Thus, a 0 chain is just an
initial piece of an orbit sequence.
The Conley chain relation Cf consists of those pairs (x, y) ∈ X × X such that
there is an chain with x0 = x and xn = y for every > 0. The Easton, or
Aubry-Mather, strong chain relation Ad f consists of those pairs (x, y) ∈ X × X
such that there is a strong chain with x0 = x and xn = y for every > 0. As the
notation indicates, Cf is independent of the choice of metric, while Ad f depends
on the metric. See [5] and [6].
Fathi and Pageault have studied these matters using what they call barrier
functions, [11], [7] and their work has been sharpened in [12], [13]. Mdf (x, y) is
the infimum of the ’s such that there is an chain from x to y and Lfd (x, y) is the
infimum of the ’s such that there is a strong chain from x to y. Thus, (x, y) ∈ Cf
iff Mdf (x, y) = 0 and (x, y) ∈ Ad f iff Lfd (x, y) = 0.
Our purpose here is to extend these results in two ways.
First, while our interest focuses upon homeomorphisms or continuous maps, it
is convenient, and easy, to extend the results to relations, following [1].
A relation f : X → Y is just a subset of X ×Y with f (x) = {y ∈ Y : (x, y) ∈ f }
for x ∈ X. Let f (A) = x∈A f (x) for A ⊂ X. So f is a mapping when f (x) is a
singleton set for every x ∈ X, in which case we will use the notation f (x) for both
the singleton set and the point contained therein. For example, the identity map
The second author was supported by a grant from the Simons Foundation (282398, JW).
2019
c American Mathematical Society
1
2 ETHAN AKIN AND JIM WISEMAN
3. Barrier functions
Let f be a relation on a pseudo-metric space (X, d). That is, f is a subset of
X × X and d is a pseudo-metric on the non-empty set X.
Let f ×n be the n−fold product of copies of f , i.e. the space of sequences in f
of length n ≥ 1, so that an element of f ×n is a sequence [a, b] = (a1 , b1 ), (a2 , b2 ), ..,
(an , bn ) of pairs in f . If [a, b] ∈ f ×n , [c, d] ∈ f ×m , then the concatenation [a, b] ·
[c, d] ∈ f ×(n+m) is the sequence of pairs (xi , yi ) = (ai , bi ) for i = 1, . . . , n and
(xi , yi ) = (ci−n , di−n ) for i = n + 1, . . . , n + m.
Define for (x, y) ∈ X × X and [a, b] ∈ f ×n the xy chain-length of [a, b] (with
respect to d) to be the sum
(3.1) d(x, a1 ) + Σn−1
i=1 d(bi , ai+1 ) + d(bn , y)
The functions fd and mfd are the barrier functions for f . Clearly, mfd ≤ fd .
Using n = 1, we see that for all (a, b) ∈ f
fd (x, y) ≤ d(x, a) + d(b, y),
(3.4)
mfd (x, y) ≤ max(d(x, a), d(b, y)).
6 ETHAN AKIN AND JIM WISEMAN
and so
(3.5) (x, y) ∈ f =⇒ mfd (x, y) = fd (x, y) = 0.
by using (a, b) = (x, y).
For the special case of f = ∅ we define
(3.6) m∅d = diam(X), and ∅d = 2diam(X),
the constant functions.
By using equation (3.4) with (a, b) = (y, y) and the triangle inequality in (3.3)
we see that
(3.7) 1dX (x, y) = d(x, y).
Define for the pseudo-metric d
(3.8) Zd = {(x, y) : d(x, y) = 0}.
Thus, Zd is a closed equivalence relation which equals 1X exactly when d is a metric.
Zd is the d-closure in X × X of the diagonal 1X .
Lemma 3.1. Let f be a relation on (X, d) with A = Dom(f ) = f −1 (X). If
f ⊂ Zd , then
(3.9) fd (x, y) = inf{d(x, a) + d(a, y) : a ∈ A} ≥ d(x, y)
with equality if either x or y is an element of A.
If d is a pseudo-ultrametric then
(3.10) mfd (x, y) = inf{max(d(x, a), d(a, y)) : a ∈ A} ≥ d(x, y)
with equality if either x or y is an element of A.
Proof: If (a, b) ∈ f then d(a, b) = 0 and so the xy chain-length of [(a, b)] is
d(x, a) + d(a, y). If [a, b] ∈ f ×n then d(ai , bi ) = 0 for all i implies that with a = a1
the xy chain-length of [a, b] is at least d(x, a) + d(a, y) by the triangle inequality.
If d is a pseudo-ultrametric then the xy chain-bound of [(a, b)] is max(d(x, a),
d(a, y))) and if [a, b] ∈ f ×n , then with with a = a1 the xy chain-bound of [a, b] is at
least max(d(x, a), d(a, y))) by the ultrametric version of the triangle inequality. 2
In particular, if A is a nonempty subset of X, then
(3.11) 1dA (x, y) = inf{d(x, a) + d(a, y) : a ∈ A} ≥ d(x, y)
with equality if either x or y is an element of A.
It is clear that f ⊂ g implies f ×n ⊂ g ×n and so
(3.12) f ⊂g =⇒ gd ≤ fd and mgd ≤ mfd on X × X.
In particular, if A is a subset of X, then
f |A f |A
(3.13) fd ≤ d and mfd ≤ md .
The relation f is reflexive when 1X ⊂ f . We see from (3.7)
(3.14) 1X ⊂ f =⇒ fd ≤ d on X × X.
If [a, b] ∈ f ×n , then we let [a, b]−1 ∈ (f −1 )×n be (bn , an ), (bn−1 , an−1 ), ..., (b1 , a1 ).
Using these reverse sequences we see immediately that
−1 −1
(3.15) fd (x, y) = fd (y, x) and mfd (x, y) = mfd (y, x)
for all x, y ∈ X.
CHAIN RECURRENCE AND STRONG CHAIN RECURRENCE ON UNIFORM SPACES 7
(b) If h is Lipschitz with constant K then fd11 (x, y) ≤ Kfd22 (h(x), h(y)) for all
x, y ∈ X1 .
Proof: If [a, b] ∈ f1×n then (h × h)×n ([a, b]) ∈ f2×n . If δ is an modulus
of uniform continuity then if the xy chain-bound of [a, b] is less than δ then the
h(x)h(y) chain-bound of (h × h)×n ([a, b]) is less than . If h is Lipschitz with
constant K then the h(x)h(y) chain-length is at most K times the xy chain-
length. 2
Because mfd and fd are continuous, it follows that Cd f and Ad f are closed in
(X × X, d × d). From the directed triangle inequalities (3.16), it follows that Cd f
and Ad f are transitive, i.e.
Cd f ◦ Cd f ⊂ Cd f,
(4.3)
Ad f ◦ Ad f ⊂ Ad f.
From (3.5) we see that,
(4.4) f ⊂ Ad f ⊂ Cd f.
If A ⊂ X with f ⊂ A × A we can regard f as a relation on (X, d) or as a
relation on (A, d|A × A) where d|(A × A) is the restriction of the pseudo-metric d
to A × A. It is clear that if f ⊂ A × A, then
(4.5) mfd |(A × A) = mfd|(A×A) and fd |(A × A) = fd|(A×A) .
and so
(4.6) (Cd f ) ∩ (A × A) = Cd|(A×A) f and (Ad f ) ∩ (A × A) = Ad|(A×A) f.
If A is closed and x, y ∈ X with either x ∈ A or y ∈ A, then fd (x, y) ≥ mfd (x, y) > 0
and so
(4.7) Cd f = Cd|(A×A) f and Ad f = Ad|(A×A) f.
From (3.12) we get monotonicity
(4.8) f ⊂ g =⇒ Cd f ⊂ Cd g and Ad f ⊂ Ad g.
and from (3.15)
(4.9) Cd (f −1 ) = (Cd f )−1 and Ad (f −1 ) = (Ad f )−1 ,
and so we can omit the parentheses.
Proposition 4.1. Let f, g be relations on X.
(4.10) mdCd f = mfd and A
d
df
= fd
The operators Cd and Ad on relations are idempotent. That is,
(4.11) Cd (Cd f ) = Cd f and Ad (Ad f ) = Ad f
CHAIN RECURRENCE AND STRONG CHAIN RECURRENCE ON UNIFORM SPACES 9
In addition,
(4.12) Cd (Cd f ∩ Cd g) = Cd f ∩ Cd g and Ad (Ad f ∩ Ad g) = Ad f ∩ Ad g,
Proof: Since f ⊂ Ad f ⊂ Cd f it follows from (3.12) that mdCd f ≤ mfd and
A
d
df
≤ fd .
For the reverse inequality fix x, y ∈ X and let t > A d
df
(x, y) be arbitrary.
Ad f
Choose t1 with t > t1 > d (x, y). Suppose that [a, b] ∈ (Ad f )×n with xy chain-
length less than t1 . Let = (t − t1 )/2n. For i = 1, ..., n we can choose an element
of some f ×ni whose ai bi chain-length is less than . Concatenating these in order
we obtain a sequence in f ×m with m = Σni=1 ni whose xy chain-length is at most
t1 + 2n ≤ t. Hence, fd (x, y) ≤ t. Letting t approach A d
df
(x, y) we obtain in the
f Ad f
limit that d (x, y) ≤ d (x, y).
The argument to show mfd (x, y) ≤ mC df
d (x, y) is completely similar.
It is clear that (4.10) implies (4.11).
Finally, Cd f ∩Cd g ⊂ Cd (Cd f ∩Cd g) ⊂ Cd (Cd f ) = Cd f and similarly, Cd f ∩Cd g ⊂
Cd (Cd f ∩ Cd g) ⊂ Cd g. Intersect to get (4.12) for Cd and the same argument yields
the Ad result. 2
Corollary 4.2. For a relation f on (X, d) let f¯d be the closure of f in (X ×
X, d × d).
¯d ¯d
mfd = mfd and fd = fd ,
(4.13)
Cd (f¯d ) = Cd f and Ad (f¯d ) = Ad f
Proof: This is clear from (3.12) and (4.10) because f ⊂ f¯d ⊂ Ad f ⊂ Cd f . 2
The Conley set (or d-chain recurrent set) is the cyclic set |Cd f | = {x : (x, x) ∈
Cd f }. Since |Cd f | is the pre-image of the closed set Cd f ⊂ X ×X via the continuous
map x → (x, x) it follows that |Cd f | ⊂ X is closed. The Aubry Set (or d-strong
chain recurrent set) is the cyclic set |Ad f | ⊂ X which is similarly closed.
From (4.4) we clearly have |Ad f | ⊂ |Cd f |.
On |Cd f | the relation Cd f ∩ Cd f −1 is a closed equivalence relation and on |Ad f |
Ad f ∩ Ad f −1 is a closed equivalence relation.
Example 4.3. Consider the map g in Example 1.2. With the usual metric d,
we have |Cd g| = |Ad g| = ∅. With the metric d1 , we have |Cd1 g| = (0, 1)×(0, 1), with
all points equivalent, while |Ad1 g| = (0, 1) × {1/2}, also with all points equivalent.
Finally, with the metric d2 , we again have |Cd2 g| = (0, 1) × (0, 1), with all points
equivalent, while |Ad2 g| = (0, 1) × (0, 1) with (x1 , y1 ) equivalent to (x2 , y2 ) iff y1 =
y2 .
Define the symmetrized functions
smfd (x, y) = max{mfd (x, y), mfd (y, x)},
(4.14)
sfd (x, y) = max{fd (x, y), fd (y, x)}.
(c) The functions smfd , sfd : X ×X → R are Lipschitz with Lipschitz constant
less than or equal to 2.
(d)
smfd (x, y) = 0 ⇐⇒ (x, y), (y, x) ∈ Cd f and so x, y ∈ |Cd f |,
(4.15)
sfd (x, y) =0 ⇐⇒ (x, y), (y, x) ∈ Ad f and so x, y ∈ |Ad f |.
(e)
y ∈ |Cd f | =⇒ smfd (x, y) ≤ d(x, y),
(4.16)
y ∈ |Ad f | =⇒ sfd (x, y) ≤ d(x, y).
(f) If z ∈ |Cd f | then mfd (x, y) ≤ max(mfd (x, z), mfd (z, y)).
Proof: (a) is obvious as is symmetry in (b), i.e. smfd (x, y) = smfd (y, x) and
sfd (x, y)
= sfd (y, x). The triangle inequality for sfd follows from
sfd (x, z) + sfd (z, y) ≥ fd (x, z) + fd (z, y) ≥ fd (x, y),
(4.17)
sfd (x, z) + sfd (z, y) ≥ fd (z, x) + fd (y, z) ≥ fd (y, x),
(a) If h is uniformly continuous, then h maps Cd1 f1 to Cd2 f2 and Cd1 f1 ∩Cd1 f1−1
to Cd2 f2 ∩ Cd2 f2−1 . So h maps each Cd1 f1 ∩ Cd1 f1−1 equivalence class in |Cd1 f1 | into
a Cd2 f2 ∩ Cd2 f2−1 equivalence class in |Cd2 f2 |.
(b) If h is Lipschitz, then h maps Ad1 f1 to Ad2 f2 and Ad1 f1 ∩ Ad1 f1−1 to
Ad2 f2 ∩ Ad2 f2−1 . So h maps each Ad1 f1 ∩ Ad1 f1−1 equivalence class in |Ad1 f1 | into
a Ad2 f2 ∩ Ad2 f2−1 equivalence class in |Ad2 f2 |.
Proof: This obviously follows from Proposition 3.3. 2
We conclude this section with some useful computations.
Recall that
(4.18) Zd = {(x, y) : d(x, y) = 0}.
Proposition 4.8. Let f be a relation on X and A be a nonempty, closed subset
of X
(a) For x, y ∈ X
(b)
Ad (1A ∪ f ) = (Zd ∩ (A × A)) ∪ Ad f,
(4.20)
Ad (1X ∪ f ) = Zd ∪ Ad f.
2
1 ∪(A×A) 1 ∪(A×A)
Remark: If A = B then sdX = dX is the pseudo-metric on X
induced by the equivalence relation 1X ∪ (A × A) corresponding to smashing A to
a point.
5. Lyapunov functions
A Lyapunov function for a relation f on a pseudo-metric space (X, d) is a
continuous map L : X → R such that
(5.1) (x, y) ∈ f =⇒ L(x) ≤ L(y).
We follow [1] in using functions increasing on orbits rather than decreasing. For
the compact case, Conley constructed Lyapunov functions for the chain recurrent
set for flows [5], and Franks extended those results for maps [8]. Yokoi constructed
them for the strong chain recurrent set for maps on compact spaces [14].
The set of Lyapunov functions contains the constants and is closed under ad-
dition, multiplication by positive scalars, max, min and post composition with any
continuous non-decreasing function on R. A continuous function which is a point-
wise limit of Lyapunov functions is itself a Lyapunov function.
We define for a real-valued function L the relation
(5.2) ≤L = {(x, y) : L(x) ≤ L(y)}.
This is clearly reflexive and transitive. If L is continuous, the relation ≤L is closed
and so contains Zd .
The Lyapunov function condition (5.1) can be restated as:
(5.3) f ⊂ ≤L .
For a Lyapunov function L and x ∈ X we have
(5.4) L(z) ≤ L(x) ≤ L(w) for z ∈ f −1 (x), w ∈ f (x)
The point x is called an f -regular point for L when the inequalities are strict for
all z ∈ f −1 (x), w ∈ f (x). Otherwise x is called an f -critical point for L. Notice,
for example, that if f −1 (x) = f (x) = ∅ then these conditions hold vacuously and
so x is an f -regular point.
We denote by |L|f the set of f -critical points for L. Clearly,
(5.5) |L|f = π1 (A) ∪ π2 (A) where A = f ∩ (L × L)−1 (1R ),
and π1 , π2 : X × X → X are the two coordinate projections.
Definition 5.1. Let F be a transitive relation on (X, d) and let L be a collection
of Lyapunov functions for F . We define three conditions on L.
ALG If L1 , L2 ∈ L and c ≥ 0 then
L1 + L2 , max(L1 , L2 ), min(L1 , L2 ), cL1 , c, −c ∈ L.
CON For every sequence {Lk } of elements of L there exists a summable sequence
of positive real numbers {ak } such that Σk ak Lk converges uniformly to
an element of L.
POIN If (x, y) ∈ Zd ∪ F then there exists L ∈ L such that L(y) < L(x), i.e.
Zd ∪ F = L∈L ≤L .
Theorem 5.2. Assume (X, d) is separable. Let F be a closed, transitive relation
and L be a collection of Lyapunov functions for F which satisfies ALG, CON and
POIN. There exists a sequence {Lk } in L such that
(5.6) ≤Lk = Zd ∪ F.
k
14 ETHAN AKIN AND JIM WISEMAN
where is the xy chain-length of [a, b]. Taking the infimum over the sequences [a, b]
we obtain (5.9). Hence, L is a Ad f Lyapunov function by part (a). 2
Proposition 5.5. Let f ⊂ g be relations on (X, d). For any z ∈ X, the
function defined by x → gd (x, z) is a bounded, 1fd dominated function, and the
function defined by x → mgd (x, z) is a bounded, 1mfd dominated function.
Proof: By the directed triangle inequalities for gd and mgd we have
(5.12) gd (x, z) − gd (y, z) ≤ gd (x, y) and mgd (x, z) − mgd (y, z) ≤ mgd (x, y)
Since f ⊂ g, gd (x, y) ≤ fd (x, y) and mgd (x, y) ≤ mfd (x, y) by (3.12). 2
Theorem 5.6. For f a relation on (X, d) let L be the set of bounded, contin-
uous functions which are Kfd dominated for some positive K. Each L ∈ L is a
Ad f Lyapunov function and so satisfies
(5.13) Ad f ⊂ ≤L and |Ad f | ⊂ |L|Ad f .
The collection L satisfies the conditions ALG, CON, and POIN with respect to
F = Ad f .
Proof: Each L in L is a Ad f Lyapunov function by Theorem 5.4 and so the
first inclusion of (5.13) follows by definition. Clearly, if (x, x) ∈ Ad f then x is a
Ad f critical point.
For L ALG is easy to check, see, e.g. Lemma 2.1. For CON let {Lk } be a
sequence in L and choose for each k, Mk ≥ 1 which bounds |Lk (x)| for all x ∈ X
and so that Lk is Mk df dominated. If {bk } is any positive, summable sequence with
bk = 1, then ak = bk /Mk > 0 is summable and Σk ak Lk converges uniformly to
a function which is 1df dominated. Thus, CON holds as well.
Now assume (x, y) ∈ Zd ∪ Ad f . Let g = 1X ∪ f . By Proposition 5.5 L(w) =
gd (w, y) defines a 1fd dominated function which is a Ad f Lyapunov function by
Theorem 5.4(a).
By Proposition 4.8 L(w) = min(fd (w, y), d(w, y)). Hence, L(y) = 0. Since
(x, y) ∈ Zd ∪ Ad f , L(x) > 0. This proves POIN. 2
Theorem 5.7. For f a relation on (X, d) let Lm be the set of bounded, con-
tinuous functions which are Kmfd dominated for some positive K. Each L ∈ Lm is
a Cd f Lyapunov function and so satisfies
(5.14) Cd f ⊂ ≤L and |Cd f | ⊂ |L|Cd f .
The collection Lm satisfies the conditions ALG, CON, POIN with respect to F =
Cd f .
Proof: Each L in Lm is a Cd f Lyapunov function by Theorem 5.4 and so the
first inclusion of (5.14) follows by definition. Clearly, if (x, x) ∈ Cd f then x is a Cd f
critical point.
For Lm ALG again follows from Lemma 2.1. For CON let {Lk } be a sequence
in Lm and choose for each k, Mk ≥ 1 which bounds |Lk (x)| for all x ∈ X and
such that Lk is Mk mfd dominated. If {bk } is any positive, summable sequence with
bk = 1, then ak = bk /Mk > 0 is summable and Σk ak Lk converges uniformly to
a function which is 1mfd . Thus, CON holds as well.
Now assume (x, y) ∈ Zd ∪ Cd f . Let g = f ∪ {(y, y)}. By Proposition 5.5
L(w) = mgd (w, y) defines a 1mfd dominated function. By Equation (4.25) L(w) =
16 ETHAN AKIN AND JIM WISEMAN
min(fd (w, y), d(w, y)). Hence, L(y) = 0. Since (x, y) ∈ Zd ∪ Cd f , L(x) > 0. This
proves POIN. 2
with |CU f | the Conley set and |AU f | the Aubry set.
Thus, CU f and AU f are closed, transitive relations on X which contain f . We
define Gf to be the intersection of all the closed, transitive relations which contain
f . Thus, Gf is the smallest closed, transitive relation which contains f . Clearly,
(6.2) f ⊂ Gf ⊂ AU f ⊂ CU f.
Thus, (x, y) ∈ CU f if for every d ∈ Γ and every > 0 there exists [a, b] ∈ f ×n
with n ≥ 1 such that the xy chain-bound of [a, b] with respect to d is less than .
If [a, b] ∈ f ×n with n ≥ 1 and U ∈ U we say that [a, b] is an xy, U chain for f
if (x, a1 ), (b1 , a2 ), . . . (bn−1 , an ), (bn , y) ∈ U . Clearly, then [a, b]−1 is a yx, U −1 chain
for f −1 .
Since the Vd ’s for d ∈ Γ(U) and > 0 generate the uniformity, it is clear that
the pair (x, y) ∈ CU f iff for every U ∈ U there exists an xy, U chain for f . This
provides a uniformity description of CU f .
Similarly, (x, y) ∈ AU f if for every d ∈ Γ and every > 0 there exists [a, b] ∈
f ×n with n ≥ 1 such that the xy chain-length of [a, b] with respect to d is less than
.
Following [12] we obtain a uniformity description of AU f . We will need the
following lemma.
Lemma 6.1. Let φ : R → [0, ∞) be given by φ(0) = 0 and φ(t) = e−1/t for
2
φ(αj ) ≥ φ(αk ) ≥ 2−k ≥ φ(1/k) and so αj ≥ 1/k for j = 1, . . . , k. Hence, j αj ≥
k(1/k) = 1 > φ−1 (), contradicting the assumption on the sum. 2
If ξ = {Uk : k ∈ N} is a sequence of elements of U and (x, y) ∈ X × X, we
call [a, b] ∈ f ×n an ξ sequence chain from x to y if there is an injective map σ :
{0, . . . , n} → N such that (bi , ai+1 ) ∈ Uσ(i) for i = 0, . . . , n with b0 = x, an+1 = y.
Theorem 6.2. For a relation f on a uniform space (X, U), (x, y) ∈ AU f iff
for every sequence ξ in U there is a ξ sequence chain from x to y.
Proof: Assume (x, y) satisfies the sequence chain condition. If d ∈ Γ(U) and
> 0 the chain-length with respect to d of any sequence chain with ξ = {V/2 d
n}
It clearly follows that |G(f k )| ⊂ |Gf |. Assume that x ∈ |Gf |. From (6.9) it
follows that either x ∈ f j (x) for some j ∈ [1, k − 1] or x ∈ G(f k ) ◦ f j (x) for some
j ∈ [0, k − 1]. If x = f j (x) then x = (f j )k (x) = (f k )j (x) and so x ∈ G(f k )(x).
Similarly, since f j maps G(f k ) to itself,
(G(f k ) ◦ f j )k ⊂ (G(f k ))k ◦ (f j )k ⊂ G(f k )
and so x ∈ |G(f k )| if x ∈ G(f k ) ◦ f j (x).
Transitivity again implies f k ⊂ AU f ⊂ CU f , and so monotonicity and transi-
tivity imply
AU f ⊃ f [1,k−1] ∪ AU (f k ) ◦ f [0,k−1] ,
(6.11)
CU f ⊃ f [1,k−1] ∪ CU (f k ) ◦ f [0,k−1] .
Now assume that f is a uniformly continuous map. Notice that if [a, b] ∈ f ×n
then bi = f (ai ) for i = 1, . . . , n. Observe that if x ∈ X and j ≤ k
d(f j (a1 ), aj+1 ) ≤ Σji=1 d(f j−i+1 (ai ), f j−i (ai+1 ))
(6.12) ≤ Σj−1 k
i=1 d (f (ai ), ai+1 ),
such that the xy chain-length of [a, b] with respect to dL is less than . Since L is
a Lyapunov function for f , we have that L(ai ) ≤ L(bi ) for i = 1, . . . , n.
L(y) − L(x) = L(y) − L(bn ) + Σni=1 L(bi ) − L(ai )+
(6.17)
i=1 L(ai ) − L(bi+1 ) + L(a1 ) − L(x).
Σn−1
The first sum is non-negative and the rest has absolute value at most the chain-
length. Hence, L(y) − L(x) ≥ −. Since was arbitrary, L(y) − L(x) ≥ 0.
If L is unbounded then for each positive K, LK = max(min(L, K), −K) is
a bounded, uniformly continuous Lyapunov function and so is an AU f Lyapunov
function. If (x, y) ∈ AU f then by choosing K large enough we have LK (x) = L(x)
and LK (y) = L(y). So L(y) − L(x) = LK (y) − LK (x) ≥ 0. 2
Corollary 6.10. Let f be a relation on a Tychonoff space X and let UM be the
maximum uniformity compatible with the topology. Let L be the set of all bounded
Lyapunov functions for f . Each L ∈ L is a Lyapunov function for AUM f and
(6.18) 1X ∪ AUM f = ≤L
L∈L
In particular,
Furthermore, there exists a metric d ∈ Γm (X) ∩ Γ(U) such that L and Lm are
Lipschitz functions on (X, d) and
(6.24) AU f = Ad f and CU f = Cd f.
Furthermore,
(6.27) AUM f = Ad f and CUM f = Cd f.
d∈Γm (X) d∈Γm (X)
Hence, the intersection over Γm (X) yields the same result as intersecting over the
entire gage, Γ(UM ). Furthermore, if d0 is a metric in Γ(U) satisfying (6.24) then
(6.24) together with (6.28) implies (6.26). 2
For d a metric on X, U(d) is the uniformity generated by Vd for all > 0.
We say that d generates the uniformity U(d) and that U is metrizable if U = U(d)
for some metric d. The Metrization Theorem, Lemma 6.12 of [10], implies that
a Hausdorff uniformity is metrizable iff it is countably generated. Two metrics d1
and d2 generate the same uniformity exactly when they are uniformly equivalent.
That is, the identity maps between (X, d1 ) and (X, d2 ) are uniformly continuous.
For a metrizable uniformity U we let Γm (U) = {d : d is a metric with U(d) = U}.
If (X, d) is a metric space and the set of non-isolated points is not compact, then
the maximum uniformity UM is not metrizable even if X is second countable. Since
a metric space is paracompact, UM consists of all neighborhoods of the diagonal.
By hypothesis there is a sequence {x1 , x2 , . . . } of distinct non-isolated points with
no convergent subsequence and so we can choose open sets Gi pairwise disjoint
and with xi ∈ Gi . We can choose yi ∈ Gi \ {xi } such that i = d(xi , yi ) → 0
as i → ∞ and ∞ let 0 = 1. Let G0 be the complement of a closed neighborhood
of {xi } in i=1 Gi . Thus, {Gi } is a locally finite open cover. Choose {φi } a
partition of unity, i.e. each φi is a continuous real-valued function with support in
Gi and with Σi φi = 1. Define ψ(x) = Σi i φi (x)/2. In particular, ψ(xi ) = i /2
for i = 1, 2, . . . . Thus, ψ is a continuous, positive function with infimum 0. So
U = {(x, y) : d(x, y) < ψ(x)} is a neighborhood of the diagonal disjoint from
{(xi , yi ) : i = 1, 2, . . . }. But if i < then (xi , yi ) ∈ Vd . It follows that for any
metric d compatible with the topology of X there exists a neighborhood of the
diagonal, and so an element of UM , which is not in U(d).
Theorem 6.14. Let (X, U) be a uniform space with U metrizable and let f be
a relation on X.
d ∈ Γm (U), CU f = Cd f .
(a) For every
(b) AU f = d∈Γm (U) Ad f .
There are special constructions for the Conley relations. For the compact case,
Conley [5] gives a construction of the chain recurrent set involving attractors, and
Bernardi and Florio [3] do so for the strong chain recurrent set.
Definition 6.15. Let f be a relation on a uniform space (X, U).
(a) A set A ⊂ X is called U inward if there exists U ∈ U such that U (f (A)) ⊂
A, or, equivalently, if there exist d ∈ Γ(U) and > 0 such that A is (Vd ◦f )
+
invariant.
(b) A U uniformly continuous function L : X → [0, 1] is called a U elementary
Lyapunov function for f if (x, y) ∈ f and L(x) > 0 imply L(y) = 1.
If U = UM for the space X, then a U inward set A for f is just called an inward
set for f . For a paracompact Hausdorff space any neighborhood of a closed set is a
UM uniform neighborhood and so a set A is inward for a relation f on such a space
iff f (A) ⊂ A◦ . A continuous function L : X → [0, 1] is UM uniformly continuous
and we will call a UM elementary Lyapunov function just an elementary Lyapunov
function.
Observe for L : X → [0, 1] that if L(x) = 0 or L(y) = 1 then L(y) ≥ L(x). So
an elementary Lyapunov function is a Lyapunov function. In addition, the points
of GL = {x : 1 > L(x) > 0} are regular points for L and so |L|f ⊂ L−1 (0) ∪ L−1 (1)
with equality if f is a surjective relation.
If u : X → R is a bounded real-valued function we define the pseudometric
du on X by du (x, y) = |u(x) − u(y)|. If u is uniformly continuous on (X, U) then
du ∈ Γ(U).
Theorem 6.16. Let f be a relation on a uniform space (X, U).
(a) If A is a U inward subset for f then there exist d ∈ Γ(U) and > 0 such
that Vd (f (A)) ⊂ A◦ . In particular, A1 = A◦ and A2 = Vd (f (A)) are U
inward with A1 open, A2 closed and f (A) ⊂ A2 ⊂ A1 ⊂ A.
(b) Let A be an open U inward subset for f . If for some d ∈ Γ(U) and > 0
Vd (f (A)) ⊂ A, then Vd (CU f (A)) ⊂ A. In particular, A is a U inward
subset of X for CU f and is (Vd ◦ CU f ) + invariant.
(c) If A is a U inward subset for f , then there exists B a closed U inward
subset for f −1 such that A◦ ∪ B ◦ = X and B ∩ f (A) = ∅ = A ∩ f −1 (B).
(d) If A is a U inward subset of X, then there exists a U uniformly continuous
elementary Lyapunov function L for f such that L−1 (0) ∪ A = X and
f (A) ⊂ L−1 (1).
(e) If L is a U elementary Lyapunov function for f and 1 ≥ > 0, then
A = {x : L(x) > 1 − } is an open set such that
f (A) ⊂ CU f (A) ⊂ CdL f (A) ⊂ L−1 (1),
(6.29)
VdL (f (A)) ⊂ VdL (CU f (A)) ⊂ VdL (CdL f (A)) ⊂ A.
In particular, L is a U(dL ) elementary Lyapunov function for CdL f and
hence is a U elementary Lyapunov function for CU f and for f .
(f) If L is a U elementary Lyapunov function for f , then 1 − L is a U ele-
mentary Lyapunov function for f −1 .
Proof: (a) There exist d ∈ Γ and > 0 such that V2
d
(f (A)) is contained in A
◦
and so is contained in A . For a subset B of X, x ∈ B implies d(x, B) = 0 and so
Vd (f (A)) ⊂ V2
d
(f (A)) and f (A) ⊂ Vd (f (A)).
CHAIN RECURRENCE AND STRONG CHAIN RECURRENCE ON UNIFORM SPACES 25
(b) Assume that x ∈ A and z ∈ Vd (CU f (x)). So there exist z1 ∈ CU f (x)
and 1 > 0 such that d(z1 , z) < . There exist d1 ∈ Γ and 1 > 0 such that
V d1 1 (x) ⊂ A and d(z1 , z) + 1 < . Let d¯ = d + d1 . There exists [a, b] ∈ f ×n
such that the xz1 chain-bound of [a, b] with respect to d¯ is less than 1 . Because
¯ z1 ) < 1 , a1 ∈ A. Since b1 ∈ f (A) and d(b1 , a2 ) < d(b
d1 (x, a1 ) < d(x, ¯ 1 , a2 ) < ,
a2 ∈ A. Inductively, we obtain ai ∈ A and bi ∈ f (A) for i = 1, . . . , n. Finally,
¯ n , z1 ) + d(z1 , z) < . So z ∈ A.
d(bn , z) ≤ d(b
(c) Let d ∈ Γ and > 0 be such that V2 d
(f (A)) is contained in A and so is
contained in A . Let B = X \ V (f (A)) so that B ◦ = X \ Vd (f (A)). Thus, B is
◦ d
(b) For x ∈ X, the set {y : mfd (x, y) < } is an open subset of X containing
Vd◦ Cd f ◦ Vd (x) ⊃ Vd ◦ CU f ◦ Vd (x). It is Vd ◦ Cd f + invariant and so is Vd ◦ CU f
and Vd ◦ f + invariant. In particular, {(x, y) : mfd (x, y) < } is a U inward set for
f.
CU f (K) = {y : mfd (x, y) < },
d∈Γ,>0 x∈K
(6.31)
K ∪ CU f (K) = {y : min(mfd (x, y), d(x, y)) < }
d∈Γ,>0 x∈K
26 ETHAN AKIN AND JIM WISEMAN
Proof: The sets are open because df and mdf are continuous. The set in (a)
clearly contains Ad f (x) = {y : fd (x, y) = 0}. If (y, z) ∈ Ad f then by Proposition
3.2 fd (x, z) ≤ fd (x, y) + fd (y, z) = fd (x, y) < .
If y ∈ Vd ◦ Cd f (z) with mfd (x, z) < then there exists z1 ∈ Cd f (z) with
d(z1 , y) < . Let 1 > 0 and such that d(z1 , y) + 1 , mfd (x, z) + 21 < . There
exist [a, b] ∈ f ×n and [c, d] ∈ f ×m such that with respect to d the xz chain-bound
of [a, b] is less than mfd (x, z) + 1 and the zz1 chain-bound of [c, d] is less than 1 .
Notice that d(bn , c1 ) ≤ d(bn , z)+d(z, c1 ) < and d(cm , y) ≤ d(cm , z1 )+d(z1 , y) < .
Hence, the xy chain-bound of the concatenation [a, b] · [c, d] is less than . Thus,
{y : mfd (x, y) < } is (Vd ◦ Cd f ) + invariant.
Similarly, if y ∈ V ◦ Cd f (z) with d(x, z) < then there exists z1 ∈ Cd f (z) with
d(z1 , y) < . Let 1 > 0 and such that d(z1 , y) + 21 , d(x, z) + 21 < . There exists
[c, d] ∈ f ×m such that with respect to d the zz1 chain-bound of [c, d] is less than 1 .
Notice that d(x, c1 ) ≤ d(x, z) + d(z, c1 ) < and d(cm , y) ≤ d(cm , z1 ) + d(z1 , y) < .
Hence, the xy chain-bound of the concatenation [c, d] is less than . Thus, {y :
mfd (x, y) < } contains Vd ◦ Cd f ◦ Vd (x).
If Q : X × X → R is a continuous function with Q ≥ 0, then we let Q(K, y) =
inf{Q(x, y) : x ∈ K}. Clearly, Q(K, y) ≤ iff there exists x ∈ K such that
Q(x, y) < . Also,
(6.32) {x : Q(K, y) = 0} = {x : Q(K, y) < }.
>0
B∞ = (CU f −1 )∞ (B)
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Mathematics Department, The City College, 137 Street and Convent Avenue, New
York City, NY 10031, USA
Email address: ethanakin@earthlink.net
1. Introduction
The dynamics of spatially distributed populations are difficult to understand
and predict, both due to their complex behavior and high dimensionality. Improv-
ing our understanding of these systems, and attempting to predict critical changes
in their behavior, become vitally important in the context of a globally changing
climate, habitat destruction, and exploitation pressures, all of which contribute to
increased dynamical volatility and extinction risk (e.g., [20], [13], [22]). Here, we
aim to understand and predict the dynamics of a spatially distributed population
by examining spatial patterns and how they change over time. We accomplish this
by analyzing the topological features of spatial patterns representing the regions
of space that are occupied by members of the population. More specifically, us-
ing cubical homology to calculate the first and second Betti numbers (β0 and β1 )
of the union of occupied patches in a two-dimensional lattice model allows us to
quantify properties of these population patterns. These numbers, β0 and β1 , count
the number of connected components and one-dimensional holes, respectively, in
the population pattern. Population time series are generated via a coupled patch
2019
c American Mathematical Society
31
32 L.S. STORCH AND S.L. DAY
model with Ricker map growth ([23]), symmetric nearest-neighbors dispersal, and
absorbing boundaries. We find that β0 and β1 can be used to characterize spatial
patterns by type, and to track spatial pattern changes over time. We track popu-
lation global extinction events via Betti number time series and find characteristic
changes in β0 and β1 en route to global extinction, suggesting that Betti numbers
may be useful in the prediction of critical transitions.
Coupled patch lattice models and tools from computational topology have a
separate, established history in the literature. Coupled patch models are relatively
simple, yet can exhibit complicated dynamics in both space and time. Studies have
experimented with the coupling of two patches (e.g., [26], [11], [32]), the coupling
of multiple patches along a line (e.g., [3], [14], [16], [17], [19], [31], [30]) and the
coupling of patches in a two-dimensional spatial lattice (e.g., [15]). Here, we fo-
cus on the two-dimensional lattice models. Likewise, computational topology has
been used to measure structure in many systems, including time-varying models
and data. These studies range from using cubical homology to study patterns in
models ([18], [5], [7]) to using simplicial persistent homology to study time evolving
patterns of population point cloud data ([6], [29], [1], [2], [27]). Our focus here
is to use cubical homology to quantify and track population patterns represent-
ing the occupied regions of space, forming the foundation for later studies using
the more sophisticated tool of cubical persistent homology to study the additional
information offered by patch-wise abundance data.
Our goal is to use topology to study the complex patterns that arise in cou-
pled patch lattice models. In a similar model to our own, Kaneko ([15]) finds
that a population distributed across two-dimensional space can fall into several
typical patterns, depending on the parameter combination. Such patterns include
checkerboard, fully-developed spatiotemporal chaos, and the frozen random pat-
tern, which consists of a population pattern that appears largely periodic in space
and time, with small sections of sustained non-periodic behavior. The Kaneko
model consists of a coupled patch model with logistic map growth, symmetric
nearest-neighbors dispersal, and periodic boundary conditions. Our model em-
ploys a different growth map and boundary conditions, but we observe qualitatively
similar dynamics. While previous work has also focused on characterizing system
dynamics over the model parameter space, here, we focus specifically on the topo-
logical features of the spatial patterns produced by the model. The topological
features allow for the characterization of spatial patterns by type, allow for obser-
vation of changes in spatial patterns over time, and provide an additional tool for
labeling of the parameter space.
One goal of our spatial pattern analysis is to determine if there is a characteristic
change in spatial patterns that occurs en route to a critical dynamical transition,
and if we can use this information to predict critical transitions. More specifically,
we focus on the changes in spatial pattern en route to a global extinction event.
To our knowledge, this is a novel approach to the prediction of critical transitions,
which currently focuses on dynamical or statistical markers of impending change.
Scheffer et al. ([25]) outline several potential symptoms of critical dynamical
transitions, which manifest as critical slowing down events. The symptoms of an
impending transition can include slowing of recovery from perturbation, increased
variance, and increased autocorrelation. Such symptoms have been observed in
real-world systems (e.g., [13]) but direct applications remain limited. In spatially
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cords of three dogs, and in each instance produced changes which
he interpreted as comparable to the myelitis of human pathology. But
the inflammation thus provoked was not of the cord-substance alone;
it also involved the membranes, and the inflammatory foci were in
several instances purulent. Now, pus never85 forms in ordinary
myelitis. An abscess of the cord never occurs where a septic agency
can be excluded. In six dogs whose spinal cords I wounded in the
dorsal and lumbar regions by aseptic methods, and who survived
from two to seven days, I never found purulent or indeed any active
inflammatory process, as that term is ordinarily understood, but
exactly such passive and necrotic or reactive changes as occur in
the acute myelitis of human pathology.
83 Klinik der Rückenmarkskrankheiten, ii. p. 115.
84 Cited by Leyden.
85 In the textbooks and encylopædias, without an exception, the statement that pus
may be a product of myelitis is made. This is true of traumatic cases and of such
depending on septic and zymotic causes alone. I am unable to find a single carefully
observed case of the occurrence of pus in simple myelitis in the literature.
88 Baumgarten's case of hyaline exudation, Archiv der Heilkunde, vol. xvii. 276, was
an infectious myelitis and associated with anthrax.
94 According to the first observer, this is probably due to structural differences. The
extramedullary fibres have a sheath and annular constrictions which are absent in the
intramedullary.
99 S. Weir Mitchell and M. J. Lewis found that voluntary effort increases the jerk at
first, but if continued diminishes its excursiveness (The Medical News, 1886, Feb.
13th and 20th).
102 Repeated fractures have been noted in cases marked by profound analgesia. It is
believed that they are not always due to trophic changes, but may be the result of
muscular action, exaggerated on account of the patient's inability to gauge his efforts.
Still, in the majority of cases the presence of positive trophic disturbances of the skin
seems to indicate the probability of some textural change facilitating the fracture.
On July 23, 1884, shortly before mid-day, while lying on the bed, in
which he had lain a helpless cripple for over four years, except when
lifted into the roller carriage, he felt a sudden rush of warmth.
Surprised at this first sensation he had felt for years in limbs which
had been quasi-foreign appendages, he raised up the bed-clothes
and saw that they changed color. There was some tingling for about
three minutes, and a perspiration broke out in the affected members.
With this he found he could move his feet: half alarmed, half exulting,
he sent for his physician, L. Weiss, who found that the patient could
stand and walk with considerable freedom. I was then consulted, and
found the patient presenting a picture of incomplete transverse
myelitis. He could walk, turn about, stand with closed eyes with slight
swaying, and his knee-phenomenon was of short excursiveness, but
exceedingly spasmodic, and this symmetrically so. He was carefully
watched, and against the advice of his physician engaged in
peddling cigars, and subsequently took a position as attendant at the
pauper asylum on Ward's Island. Here he was on his feet fully twelve
hours a day, and his motion, which had continued improving until it
was to all practical intents and purposes normal, aside from a slight
stiffness, again became impaired, and a joint trouble in the
metacarpo-phalangeal articulation of the right little toe, which had
troubled him a week after his partial recovery, recurred.104 On
January 15th of the present year I again examined him. His knee-
phenomenon was greatly exaggerated, cutaneous sensations
scarcely impaired, gait paraparetic, but he could walk great
distances, and claimed to suffer less from the exertion than from the
tenderness accompanying the joint trouble referred to. There had,
therefore, occurred, without any assignable cause—for the patient
was not under treatment for a year or more before the event—an
almost instantaneous restoration of sensation, locomotion, and
sexual power; all of which faculties, notwithstanding the infraction of
every medical direction given, remained established for two years,
with prospects of so continuing a longer period.
104 This was a trophic joint trouble.