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We present a simple nonlinear model describing the population dynamics of cancerous, healthy, and effector cells submitted to ionizing radiation. We examine the situations in which intermittently high doses of radiation affect the cells as it occurs in radiotherapy. We characterize the effect of various irradiation parameters, such as the total delivered dose for a given standard dose rate and the number of treatment sessions seeking situations that optimize normal cells survival. In other words, we are interested in enhancing the effectiveness of a radiotherapy treatment by adjusting the temporal pattern of the dose deliverance through an exhaustive dynamical characterization of the system. This includes the study of the parameter planes, the populations’ dynamical behavior going from fixed points to chaotic oscillations, and the basins of attraction. This work leads to counter-intuitive predictions and constitutes a step towards a model of chronomodulated radiotherapy., SCOPUS: ar.j, info:eu-repo/semantics/published

Multifractal detrended fluctuation analysis (MFDFA) has become a central method to characterise the variability and uncertainty in empiric time series. Extracting the fluctuations on different temporal scales allows quantifying the strength and correlations in the underlying stochastic properties, their scaling behaviour, as well as the level of fractality. Several extensions to the fundamental method have been developed over the years, vastly enhancing the applicability of MFDFA, e.g. empirical mode decomposition for the study of long-range correlations and persistence. In this article we introduce an efficient, easy-to-use python library for MFDFA, incorporating the most common extensions and harnessing the most of multi-threaded processing for very fast calculations. (C) 2021 Elsevier B.V. All rights reserved.

Tropische Regenwälder sind durch anthropogene Aktivitäten gefährdet und wurden als Kippelement identifiziert. Ein Kippen in einen neuen Zustand könnte tiefgreifende Auswirkungen auf das globale Klima haben, sobald die Vegetation von einem bewaldeten in einen Savannen- oder Graslandzustand übergegangen ist. Waldbrände können die Grenze zwischen Savanne und Wald verschieben und somit das dynamische Gleichgewicht zwischen diesen beiden möglichen Vegetationszuständen unter sich änderndem Klima beeinträchtigen. In der vorliegenden Doktorarbeit wurde ein neues Erdsystemmodell entwickelt und angewendet, um explizit die Auswirkungen von Feuer, Klimawandel und Landnutzung auf eine potenzielle tropische Hysterese abzuschätzen. In den ersten beiden Teilen der Arbeit wurde das Vegetationsmodell LPJmL vor allem in Hinblick auf Feuersimulation verbessert und anschließend biophysikalisch an das Erdystemmodell CM2Mc gekoppelt. Im dritten Teil dieser Arbeit wurde das resultierende Modell CM2Mc-LPJmL schließlich angewendet, um wichtige biophysikalische Feuer-Vegetations-Klima-Rückkopplungen und einen potentiellen Kipppunkt bzw. eine Hysterese der tropischen Wälder zu untersuchen. Die Ergebnisse der Experimente zeigten, dass eine alleinige Klima Störung nicht zu einem großflächigen Kipppunkt tropischer Wälder führt. Andererseits führte die vollständige Entwaldung bei einer erhöhten CO2-Konzentration von über 450 ppm und die Wirkung von Waldbränden zu einer Verschiebung großer Teile des Amazonas Regenwaldes in einen stabilen Graslandzustand. Die Leistung dieser Arbeit ist die Entwicklung eines neuen Erdsystemmodells, das die Vorteile des umfassenden dynamischen Vegetationsmodells LPJmL und eines prozessbasierten Feuermodells mit dem geringen Rechenaufwand von CM2Mc verbindet. Diese Doktorarbeit untersuchte zum ersten Mal den expliziten Einfluss von Feuer auf tropische Kipppunkte und auf eine mögliche vegetative Erholung in einem umfassenden feuerfähigen Erdsystemmodell., Tropical rain forests are endangered by anthropogenic activities and are recognized as one of the terrestrial tipping elements. An ecosystem regime change to a new state could have profound impacts on the global climate, once the biome has transitioned from a forest into a savanna or grassland state. Fire could potentially shift the savanna-forest boundary and hence impact the dynamical equilibrium between these two possible vegetation states under a changing climate. In this thesis, a new Earth system model was developed and applied to explicitly estimate the impact of fire, climate change and land-use on a potential tropical tipping point and hysteresis. The first part of this thesis describes the improvement of simulating fire within the dynamic global vegetation model (DGVM) LPJmL (Lund-Potsdam-Jena-managed-Land). In the second part, the improved LPJmL model was biophysically coupled to the Earth system model CM2Mc, which involved numerous changes in the original LPJmL model. In the third part of this thesis, the resulting model CM2Mc-LPJmL was finally applied to investigate important biophysical fire-vegetation-climate feedbacks and a potential tipping point and hysteresis of tropical forests. The results of the modeling experiments indicated that a sole climate disturbance does not lead to a large-scale tipping of tropical forests into a savanna or grassland state. On the other hand, complete deforestation alongside elevated CO2 above 450 ppm and the impact of fire led to a shift of large parts of the Amazon into a stable grassland state. The contribution of this thesis is the development of a new Earth system model, including the advantages of the comprehensive dynamic vegetation model LPJmL, a process-based fire model and the low computation cost of CM2Mc. This thesis studied for the first time the explicit impact of fire on tropical tipping points and a possible vegetation recovery in a comprehensive fire-enabled Earth system model.

The atmosphere is a thermo-hydrodynamical complex system and provides oxygen to most animal life at the Earth's surface. However, the detection of complexity for the atmosphere remains elusive and debated. Here we develop a percolation-based framework to explore its structure by using the global air temperature field. We find that the percolation threshold is much delayed compared with the prototypical percolation model and the giant cluster eventually emerges explosively. A finite-size-scaling analysis reveals that the observed transition in each atmosphere layer is genuine discontinuous. Furthermore, at the percolation threshold, we uncover that the boundary of the giant cluster is self-affine, with fractal dimension d(f), and can be utilized to quantify the atmospheric complexity. Specifically, our results indicate that the complexity of the atmosphere decreases superlinearly with height, i.e., the complexity is higher at the surface than at the top layer and vice versa, due to the atmospheric boundary forcings. The proposed methodology may evaluate and improve our understanding regarding the critical phenomena of the complex Earth system and can be used as a benchmark tool to test the performance of Earth system models.

Komplexe Netzwerke sind mächtige Werkzeuge, die die Untersuchung komplexer Systeme unterstützen. In vielen Bereichen werden komplexe Netzwerke eingesetzt, um die Dynamik interagierender Entitäten wie Neuronen, Menschen oder sogar Wettersysteme zu verstehen. Darüber hinaus erweitern sich die Anwendungsbereiche mit der stetigen Entwicklung neuer theoretischer Ansätze. In dieser Arbeit wollen wir sowohl den theoretischen Rahmen der Netzwerkwissenschaften weiterentwickeln als auch komplexe Netzwerke in der Klimatologie und der computergestützten Sozialwissenschaft anwenden., Complex networks are powerful tools enabling the study of complex systems. In many fields, complex networks are used as a tool to gain an understanding of the dynamics of interacting entities such as neurons in a brain, humans on social media, or global weather systems. At the same time, new theoretical frameworks that extend the toolbox of Network Science promote the application of network tools in new research fields. In this thesis, we aim for both, advancing the theoretical framework of Network Science as well as applying complex networks in Climatology and Computational Social Science.

Irregular sampling of data sets is one of the challenges often encountered in time-series analysis, since traditional methods cannot be applied and the frequently used interpolation approach can corrupt the data and bias the subsequence analysis. Here we present the TrAnsformation-Cost Time-Series (TACTS) method, which allows us to analyze irregularly sampled data sets without degenerating the quality of the data set. Instead of using interpolation we consider time-series segments and determine how close they are to each other by determining the cost needed to transform one segment into the following one. Using a limited set of operations-with associated costs-to transform the time series segments, we determine a new time series, that is our transformation-cost time series. This cost time series is regularly sampled and can be analyzed using standard methods. While our main interest is the analysis of paleoclimate data, we develop our method using numerical examples like the logistic map and the Rossler oscillator. The numerical data allows us to test the stability of our method against noise and for different irregular samplings. In addition we provide guidance on how to choose the associated costs based on the time series at hand. The usefulness of the TACTS method is demonstrated using speleothem data from the Secret Cave in Borneo that is a good proxy for paleoclimatic variability in the monsoon activity around the maritime continent., TUBITAK under the 2214/A programTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK); Leibniz Association (WGL) [SAW-2013-IZW-2542]; BMBF within the Potsdam Research Cluster for Georisk Analysis, Environmental Change and Sustainability (PROGRESS) SupportFederal Ministry of Education ; Research (BMBF) [03IS2191B], We thank K.-H. Wyrwoll and F. McRobie from the School of Earth and Environment (UWA) for fruitful discussions. Moreover, we acknowledge for financial supports from TUBITAK under the 2214/A program (I.O.), from the Leibniz Association (WGL) under Grant No. SAW-2013-IZW-2542 (D.E.), as well as from the BMBF within the Potsdam Research Cluster for Georisk Analysis, Environmental Change and Sustainability (PROGRESS) Support Code No. 03IS2191B (N.M.).

Irregular sampling of data sets is one of the challenges often encountered in time-series analysis, since traditional methods cannot be applied and the frequently used interpolation approach can corrupt the data and bias the subsequence analysis. Here we present the TrAnsformation-Cost Time-Series (TACTS) method, which allows us to analyze irregularly sampled data sets without degenerating the quality of the data set. Instead of using interpolation we consider time-series segments and determine how close they are to each other by determining the cost needed to transform one segment into the following one. Using a limited set of operations-with associated costs-to transform the time series segments, we determine a new time series, that is our transformation-cost time series. This cost time series is regularly sampled and can be analyzed using standard methods. While our main interest is the analysis of paleoclimate data, we develop our method using numerical examples like the logistic map and the Rossler oscillator. The numerical data allows us to test the stability of our method against noise and for different irregular samplings. In addition we provide guidance on how to choose the associated costs based on the time series at hand. The usefulness of the TACTS method is demonstrated using speleothem data from the Secret Cave in Borneo that is a good proxy for paleoclimatic variability in the monsoon activity around the maritime continent., TUBITAK under the 2214/A programTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK); Leibniz Association (WGL) [SAW-2013-IZW-2542]; BMBF within the Potsdam Research Cluster for Georisk Analysis, Environmental Change and Sustainability (PROGRESS) SupportFederal Ministry of Education ; Research (BMBF) [03IS2191B], We thank K.-H. Wyrwoll and F. McRobie from the School of Earth and Environment (UWA) for fruitful discussions. Moreover, we acknowledge for financial supports from TUBITAK under the 2214/A program (I.O.), from the Leibniz Association (WGL) under Grant No. SAW-2013-IZW-2542 (D.E.), as well as from the BMBF within the Potsdam Research Cluster for Georisk Analysis, Environmental Change and Sustainability (PROGRESS) Support Code No. 03IS2191B (N.M.).

Komplexe Netzwerke sind mächtige Werkzeuge, die die Untersuchung komplexer Systeme unterstützen. In vielen Bereichen werden komplexe Netzwerke eingesetzt, um die Dynamik interagierender Entitäten wie Neuronen, Menschen oder sogar Wettersysteme zu verstehen. Darüber hinaus erweitern sich die Anwendungsbereiche mit der stetigen Entwicklung neuer theoretischer Ansätze. In dieser Arbeit wollen wir sowohl den theoretischen Rahmen der Netzwerkwissenschaften weiterentwickeln als auch komplexe Netzwerke in der Klimatologie und der computergestützten Sozialwissenschaft anwenden., Complex networks are powerful tools enabling the study of complex systems. In many fields, complex networks are used as a tool to gain an understanding of the dynamics of interacting entities such as neurons in a brain, humans on social media, or global weather systems. At the same time, new theoretical frameworks that extend the toolbox of Network Science promote the application of network tools in new research fields. In this thesis, we aim for both, advancing the theoretical framework of Network Science as well as applying complex networks in Climatology and Computational Social Science.

The atmosphere is a thermo-hydrodynamical complex system and provides oxygen to most animal life at the Earth's surface. However, the detection of complexity for the atmosphere remains elusive and debated. Here we develop a percolation-based framework to explore its structure by using the global air temperature field. We find that the percolation threshold is much delayed compared with the prototypical percolation model and the giant cluster eventually emerges explosively. A finite-size-scaling analysis reveals that the observed transition in each atmosphere layer is genuine discontinuous. Furthermore, at the percolation threshold, we uncover that the boundary of the giant cluster is self-affine, with fractal dimension d(f), and can be utilized to quantify the atmospheric complexity. Specifically, our results indicate that the complexity of the atmosphere decreases superlinearly with height, i.e., the complexity is higher at the surface than at the top layer and vice versa, due to the atmospheric boundary forcings. The proposed methodology may evaluate and improve our understanding regarding the critical phenomena of the complex Earth system and can be used as a benchmark tool to test the performance of Earth system models.

Die Dynamik des Erdsystems im Anthropozän wird durch eine zunehmende Verschränkung von Prozessen auf physikalischer und ökologischer sowie auf sozioökonomischer Ebene bestimmt. Wenn Modelle als Entscheidungshilfen in diesem Umfeld nützlich sein sollen, müssen sie diese komplexen Rückkopplungen ebenso berücksichtigen wie die inhärent emergenten und heterogenen Qualitäten gesellschaftlicher Dynamik. Diese Arbeit schlägt vor, den Menschen als begrenzten rationalen Entscheidungsträger zu modellieren, die (soziales) Lernen nutzen, um Entscheidungsheuristiken zu erwerben, die in einer gegebenen Umgebung gut funktionieren. Dies wird in einem Wirtschaftsmodell mit zwei Sektoren veranschaulicht, in dem ein Sektor eine fossile Ressource für die wirtschaftliche Produktion verwendet und die Haushalte ihre Investitionsentscheidungen in der zuvor beschriebenen Weise treffen. In der Modellökonomie können individuelle Entscheidungsfindung und soziale Dynamik die CO 2 Emissionen nicht auf ein Niveau begrenzen, das eine globale Erwärmung über 1,5◦C verhindert. Eine Kombination aus kollektivem Handeln und koordinierter öffentlicher Politik allerdings kann. Eine Folgestudie analysiert das soziale Lernen der individuellen Sparquoten in einer Ein-Sektor-Wirtschaft. Hier nähert sich die aggregierte Sparquote der eines intertemporär optimierenden allwissenden Sozialen Planers an, wenn die soziale Interaktionsrate ausreichend niedrig ist. Gleichzeitig führt eine abnehmende Interaktionsrate einem plötzlichen Übergangs von einer unimodalen zu einer stark bimodalen Verteilung des Vermögens unter den Haushalten. Schließlich schlägt diese Arbeit eine Kombination verschiedener Methoden vor, die zur Ableitung analytischer Näherungen für solche vernetzten heterogenen Agentenmodelle verwendet werden können, bei denen Interaktionen zwischen Agenten sowohl auf individueller als auch auf aggregierter Ebene auftreten., The trajectory of the Earth system in the Anthropocene is governed by an increasing entanglement of processes on a physical and ecological as well as on a socio-economic level. If models are to be useful as decision support tools in this environment, they ought acknowledge these complex feedback loops as well as the inherently emergent and heterogeneous qualities of societal dynamics. This thesis improves the capability of social-ecological and socio-economic models to picture emergent social phenomena and uses and extends techniques from dynamical systems theory and statistical physics for their analysis. It proposes to model humans as bounded rational decision makers that use (social) learning to acquire decision heuristics that function well in a given environment. This is illustrated in a two sector economic model in which one sector uses a fossil resource for economic production and households make their investment decisions in the previously described way. In the model economy individual decision making and social dynamics can not limit CO 2 emissions to a level that prevents global warming above 1.5 ◦ C. However, a combination of collective action and coordinated public policy actually can. A follow up study analyzes social learning of individual savings rates in a one sector investment economy. Here, the aggregate savings rate in the economy approaches that of an intertemporarily optimizing omniscient social planner if the social interaction rate is sufficiently low. Sumultaneously, a decreasing interaction rate leads to emergent inequality in the model in the form of a sudden transition from a unimodal to a strongly bimodal distribution of wealth among households. Finally, this thesis proposes a combination of different moment closure techniques that can be used to derive analytic approximations for such networked heterogeneous agent models where interactions between agents occur on an individual as well as on an aggregated level.

Die Dynamik des Erdsystems im Anthropozän wird durch eine zunehmende Verschränkung von Prozessen auf physikalischer und ökologischer sowie auf sozioökonomischer Ebene bestimmt. Wenn Modelle als Entscheidungshilfen in diesem Umfeld nützlich sein sollen, müssen sie diese komplexen Rückkopplungen ebenso berücksichtigen wie die inhärent emergenten und heterogenen Qualitäten gesellschaftlicher Dynamik. Diese Arbeit schlägt vor, den Menschen als begrenzten rationalen Entscheidungsträger zu modellieren, die (soziales) Lernen nutzen, um Entscheidungsheuristiken zu erwerben, die in einer gegebenen Umgebung gut funktionieren. Dies wird in einem Wirtschaftsmodell mit zwei Sektoren veranschaulicht, in dem ein Sektor eine fossile Ressource für die wirtschaftliche Produktion verwendet und die Haushalte ihre Investitionsentscheidungen in der zuvor beschriebenen Weise treffen. In der Modellökonomie können individuelle Entscheidungsfindung und soziale Dynamik die CO 2 Emissionen nicht auf ein Niveau begrenzen, das eine globale Erwärmung über 1,5◦C verhindert. Eine Kombination aus kollektivem Handeln und koordinierter öffentlicher Politik allerdings kann. Eine Folgestudie analysiert das soziale Lernen der individuellen Sparquoten in einer Ein-Sektor-Wirtschaft. Hier nähert sich die aggregierte Sparquote der eines intertemporär optimierenden allwissenden Sozialen Planers an, wenn die soziale Interaktionsrate ausreichend niedrig ist. Gleichzeitig führt eine abnehmende Interaktionsrate einem plötzlichen Übergangs von einer unimodalen zu einer stark bimodalen Verteilung des Vermögens unter den Haushalten. Schließlich schlägt diese Arbeit eine Kombination verschiedener Methoden vor, die zur Ableitung analytischer Näherungen für solche vernetzten heterogenen Agentenmodelle verwendet werden können, bei denen Interaktionen zwischen Agenten sowohl auf individueller als auch auf aggregierter Ebene auftreten., The trajectory of the Earth system in the Anthropocene is governed by an increasing entanglement of processes on a physical and ecological as well as on a socio-economic level. If models are to be useful as decision support tools in this environment, they ought acknowledge these complex feedback loops as well as the inherently emergent and heterogeneous qualities of societal dynamics. This thesis improves the capability of social-ecological and socio-economic models to picture emergent social phenomena and uses and extends techniques from dynamical systems theory and statistical physics for their analysis. It proposes to model humans as bounded rational decision makers that use (social) learning to acquire decision heuristics that function well in a given environment. This is illustrated in a two sector economic model in which one sector uses a fossil resource for economic production and households make their investment decisions in the previously described way. In the model economy individual decision making and social dynamics can not limit CO 2 emissions to a level that prevents global warming above 1.5 ◦ C. However, a combination of collective action and coordinated public policy actually can. A follow up study analyzes social learning of individual savings rates in a one sector investment economy. Here, the aggregate savings rate in the economy approaches that of an intertemporarily optimizing omniscient social planner if the social interaction rate is sufficiently low. Sumultaneously, a decreasing interaction rate leads to emergent inequality in the model in the form of a sudden transition from a unimodal to a strongly bimodal distribution of wealth among households. Finally, this thesis proposes a combination of different moment closure techniques that can be used to derive analytic approximations for such networked heterogeneous agent models where interactions between agents occur on an individual as well as on an aggregated level.

Die Dynamik des Erdsystems im Anthropozän wird durch eine zunehmende Verschränkung von Prozessen auf physikalischer und ökologischer sowie auf sozioökonomischer Ebene bestimmt. Wenn Modelle als Entscheidungshilfen in diesem Umfeld nützlich sein sollen, müssen sie diese komplexen Rückkopplungen ebenso berücksichtigen wie die inhärent emergenten und heterogenen Qualitäten gesellschaftlicher Dynamik. Diese Arbeit schlägt vor, den Menschen als begrenzten rationalen Entscheidungsträger zu modellieren, die (soziales) Lernen nutzen, um Entscheidungsheuristiken zu erwerben, die in einer gegebenen Umgebung gut funktionieren. Dies wird in einem Wirtschaftsmodell mit zwei Sektoren veranschaulicht, in dem ein Sektor eine fossile Ressource für die wirtschaftliche Produktion verwendet und die Haushalte ihre Investitionsentscheidungen in der zuvor beschriebenen Weise treffen. In der Modellökonomie können individuelle Entscheidungsfindung und soziale Dynamik die CO 2 Emissionen nicht auf ein Niveau begrenzen, das eine globale Erwärmung über 1,5◦C verhindert. Eine Kombination aus kollektivem Handeln und koordinierter öffentlicher Politik allerdings kann. Eine Folgestudie analysiert das soziale Lernen der individuellen Sparquoten in einer Ein-Sektor-Wirtschaft. Hier nähert sich die aggregierte Sparquote der eines intertemporär optimierenden allwissenden Sozialen Planers an, wenn die soziale Interaktionsrate ausreichend niedrig ist. Gleichzeitig führt eine abnehmende Interaktionsrate einem plötzlichen Übergangs von einer unimodalen zu einer stark bimodalen Verteilung des Vermögens unter den Haushalten. Schließlich schlägt diese Arbeit eine Kombination verschiedener Methoden vor, die zur Ableitung analytischer Näherungen für solche vernetzten heterogenen Agentenmodelle verwendet werden können, bei denen Interaktionen zwischen Agenten sowohl auf individueller als auch auf aggregierter Ebene auftreten., The trajectory of the Earth system in the Anthropocene is governed by an increasing entanglement of processes on a physical and ecological as well as on a socio-economic level. If models are to be useful as decision support tools in this environment, they ought acknowledge these complex feedback loops as well as the inherently emergent and heterogeneous qualities of societal dynamics. This thesis improves the capability of social-ecological and socio-economic models to picture emergent social phenomena and uses and extends techniques from dynamical systems theory and statistical physics for their analysis. It proposes to model humans as bounded rational decision makers that use (social) learning to acquire decision heuristics that function well in a given environment. This is illustrated in a two sector economic model in which one sector uses a fossil resource for economic production and households make their investment decisions in the previously described way. In the model economy individual decision making and social dynamics can not limit CO 2 emissions to a level that prevents global warming above 1.5 ◦ C. However, a combination of collective action and coordinated public policy actually can. A follow up study analyzes social learning of individual savings rates in a one sector investment economy. Here, the aggregate savings rate in the economy approaches that of an intertemporarily optimizing omniscient social planner if the social interaction rate is sufficiently low. Sumultaneously, a decreasing interaction rate leads to emergent inequality in the model in the form of a sudden transition from a unimodal to a strongly bimodal distribution of wealth among households. Finally, this thesis proposes a combination of different moment closure techniques that can be used to derive analytic approximations for such networked heterogeneous agent models where interactions between agents occur on an individual as well as on an aggregated level.

Universality is a principle that fundamentally underlies many critical phenomena, ranging from epidemic spreading to the emergence or breakdown of global connectivity in networks. Percolation, the transition to global connectedness on gradual addition of links, may exhibit substantial gaps in the size of the largest connected network component. We uncover that the largest gap statistics is governed by extreme-value theory. This allows us to unify continuous and discontinuous percolation by virtue of universal critical scaling functions, obtained from normal and extreme-value statistics. Specifically, we show that the universal scaling function of the size of the largest gap is given by the extreme-value Gumbel distribution. This links extreme-value statistics to universality and criticality in percolation. Percolation transitions underpin a generic class of phenomena associated with the degree of connectedness in networks. A detailed numerical study now uncovers a universal scaling in the size of the largest cluster identified in such percolation models.

Universality is a principle that fundamentally underlies many critical phenomena, ranging from epidemic spreading to the emergence or breakdown of global connectivity in networks. Percolation, the transition to global connectedness on gradual addition of links, may exhibit substantial gaps in the size of the largest connected network component. We uncover that the largest gap statistics is governed by extreme-value theory. This allows us to unify continuous and discontinuous percolation by virtue of universal critical scaling functions, obtained from normal and extreme-value statistics. Specifically, we show that the universal scaling function of the size of the largest gap is given by the extreme-value Gumbel distribution. This links extreme-value statistics to universality and criticality in percolation. Percolation transitions underpin a generic class of phenomena associated with the degree of connectedness in networks. A detailed numerical study now uncovers a universal scaling in the size of the largest cluster identified in such percolation models.

Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the visual-based self-state estimation, environment perception and navigation capabilities of autonomous systems have been efficiently addressed, and many new learning-based algorithms have surfaced with respect to autonomous visual perception and navigation. In this review, we focus on the applications of learning-based monocular approaches in ego-motion perception, environment perception and navigation in autonomous systems, which is different from previous reviews that discussed traditional methods. First, we delineate the shortcomings of existing classical visual simultaneous localization and mapping (vSLAM) solutions, which demonstrate the necessity to integrate deep learning techniques. Second, we review the visual-based environmental perception and understanding methods based on deep learning, including deep learning-based monocular depth estimation, monocular ego-motion prediction, image enhancement, object detection, semantic segmentation, and their combinations with traditional vSLAM frameworks. Then, we focus on the visual navigation based on learning systems, mainly including reinforcement learning and deep reinforcement learning. Finally, we examine several challenges and promising directions discussed and concluded in related research of learning systems in the era of computer science and robotics., Comment: This paper has been accepted by IEEE TNNLS

In turbulent combustors, the transition from stable combustion (i.e. combustion noise) to thermoacoustic instability occurs via intermittency. During stable combustion, the acoustic power production happens in a spatially incoherent manner. In contrast, during thermoacoustic instability, the acoustic power production happens in a spatially coherent manner. In the present study, we investigate the spatiotemporal dynamics of acoustic power sources during the intermittency route to thermoacoustic instability using complex network theory. To that end, we perform simultaneous acoustic pressure measurement, high-speed chemiluminescence imaging and particle image velocimetry in a backward-facing step combustor with a bluff body stabilized flame at different equivalence ratios. We examine the spatiotemporal dynamics of acoustic power sources by constructing time-varying spatial networks during the different dynamical states of combustor operation. We show that as the turbulent combustor transits from combustion noise to thermoacoustic instability via intermittency, small fragments of acoustic power sources, observed during combustion noise, nucleate, coalesce and grow in size to form large clusters at the onset of thermoacoustic instability. This nucleation, coalescence and growth of small clusters of acoustic power sources occurs during the growth of pressure oscillations during intermittency. In contrast, during the decay of pressure oscillations during intermittency, these large clusters of acoustic power sources disintegrate into small ones. We use network measures such as the link density, the number of components and the size of the largest component to quantify the spatiotemporal dynamics of acoustic power sources as the turbulent combustor transits from combustion noise to thermoacoustic instability via intermittency., Peer Reviewed

This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively., In turbulent combustors, the transition from stable combustion (i.e. combustion noise) to thermoacoustic instability occurs via intermittency. During stable combustion, the acoustic power production happens in a spatially incoherent manner. In contrast, during thermoacoustic instability, the acoustic power production happens in a spatially coherent manner. In the present study, we investigate the spatiotemporal dynamics of acoustic power sources during the intermittency route to thermoacoustic instability using complex network theory. To that end, we perform simultaneous acoustic pressure measurement, high-speed chemiluminescence imaging and particle image velocimetry in a backward-facing step combustor with a bluff body stabilized flame at different equivalence ratios. We examine the spatiotemporal dynamics of acoustic power sources by constructing time-varying spatial networks during the different dynamical states of combustor operation. We show that as the turbulent combustor transits from combustion noise to thermoacoustic instability via intermittency, small fragments of acoustic power sources, observed during combustion noise, nucleate, coalesce and grow in size to form large clusters at the onset of thermoacoustic instability. This nucleation, coalescence and growth of small clusters of acoustic power sources occurs during the growth of pressure oscillations during intermittency. In contrast, during the decay of pressure oscillations during intermittency, these large clusters of acoustic power sources disintegrate into small ones. We use network measures such as the link density, the number of components and the size of the largest component to quantify the spatiotemporal dynamics of acoustic power sources as the turbulent combustor transits from combustion noise to thermoacoustic instability via intermittency., Peer Reviewed

Self-organization is a property of dissipative nonlinear processes that are governed by an internal driver and a positive feedback mechanism, which creates regular geometric and/or temporal patterns and decreases the entropy, in contrast to random processes. Here we investigate for the first time a comprehensive number of 16 self-organization processes that operate in planetary physics, solar physics, stellar physics, galactic physics, and cosmology. Self-organizing systems create spontaneous {\sl order out of chaos}, during the evolution from an initially disordered system to an ordered stationary system, via quasi-periodic limit-cycle dynamics, harmonic mechanical resonances, or gyromagnetic resonances. The internal driver can be gravity, rotation, thermal pressure, or acceleration of nonthermal particles, while the positive feedback mechanism is often an instability, such as the magneto-rotational instability, the Rayleigh-B\'enard convection instability, turbulence, vortex attraction, magnetic reconnection, plasma condensation, or loss-cone instability. Physical models of astrophysical self-organization processes involve hydrodynamic, MHD, and N-body formulations of Lotka-Volterra equation systems., Comment: 61 pages, 38 Figures

Self-organization is a property of dissipative nonlinear processes that are governed by an internal driver and a positive feedback mechanism, which creates regular geometric and/or temporal patterns and decreases the entropy, in contrast to random processes. Here we investigate for the first time a comprehensive number of 16 self-organization processes that operate in planetary physics, solar physics, stellar physics, galactic physics, and cosmology. Self-organizing systems create spontaneous {\sl order out of chaos}, during the evolution from an initially disordered system to an ordered stationary system, via quasi-periodic limit-cycle dynamics, harmonic mechanical resonances, or gyromagnetic resonances. The internal driver can be gravity, rotation, thermal pressure, or acceleration of nonthermal particles, while the positive feedback mechanism is often an instability, such as the magneto-rotational instability, the Rayleigh-B\'enard convection instability, turbulence, vortex attraction, magnetic reconnection, plasma condensation, or loss-cone instability. Physical models of astrophysical self-organization processes involve hydrodynamic, MHD, and N-body formulations of Lotka-Volterra equation systems., Comment: 61 pages, 38 Figures

El Nino exhibits distinct Eastern Pacific (EP) and Central Pacific (CP) types which are commonly, but not always consistently, distinguished from each other by different signatures in equatorial climate variability. Here we propose an index based on evolving climate networks to objectively discriminate between both flavors by utilizing a scalar-valued measure that quantifies spatial localization and dispersion in global teleconnections of surface air temperature. Our index displays a sharp peak (high localization) during EP events, whereas during CP events (larger dispersion) it remains close to the values observed during normal periods. In contrast to previous classification schemes, our approach specifically accounts for El Nino's global impacts. We confirm recent El Nino classifications for theyears 1951 to 2014 and assign types to those cases where former works yielded ambiguous results. Ultimately, we demonstrate that our index provides a similar discrimination of La Nina episodes into two distinct types.

Transient dynamics are of large interest in many areas of science. Here, a generalization of basin stability (BS) is presented: constrained basin stability (CBS) that is sensitive to various different types of transients arising from finite size perturbations. CBS is applied to the paradigmatic Lorenz system for uncovering nonlinear precursory phenomena of a boundary crisis bifurcation. Further, CBS is used in a model of the Earth's carbon cycle as a return time-dependent stability measure of the system's global attractor. Both case studies illustrate how CBS's sensitivity to transients complements BS in its function as an early warning signal and as a stability measure. CBS is broadly applicable in systems where transients matter, from physics and engineering to sustainability science. Thus CBS complements stability analysis with BS as well as classical linear stability analysis and will be a useful tool for many applications.

A faithful modeling of real-world dynamical systems necessitates model evaluation. A recent promising methodological approach to this problem has been based on complex networks, which in turn have proven useful for the characterization of dynamical systems. In this context, we introduce three local network difference measures and demonstrate their capabilities in the field of climate modeling, where these measures facilitate a spatially explicit model evaluation. Building on a recent study by Feldhoff et al. [1] we comparatively analyze statistical and dynamical regional climate simulations of the South American monsoon system. Three types of climate networks representing different aspects of rainfall dynamics are constructed from the modeled precipitation space-time series. Specifically, we define simple graphs based on positive as well as negative rank correlations between rainfall anomaly time series at different locations, and such based on spatial synchronizations of extreme rain events. An evaluation against respective networks built from daily satellite data provided by the Tropical Rainfall Measuring Mission 3B42 V7 reveals far greater differences in model performance between network types for a fixed but arbitrary climate model than between climate models for a fixed but arbitrary network type. We identify two sources of uncertainty in this respect. Firstly, climate variability limits fidelity, particularly in the case of the extreme event network; and secondly, larger geographical link lengths render link misplacements more likely, most notably in the case of the anticorrelation network; both contributions are quantified using suitable ensembles of surrogate networks. Our model evaluation approach is applicable to any multidimensional dynamical system and especially our simple graph difference measures are highly versatile as the graphs to be compared may be constructed in whatever way required. Generalizations to directed as well as edge-and node-weighted

Identifying regions important for spreading and mediating perturbations is crucial to assess the susceptibilities of spatio-temporal complex systems such as the Earth's climate to volcanic eruptions, extreme events or geoengineering. Here a data-driven approach is introduced based on a dimension reduction, causal reconstruction, and novel network measures based on causal effect theory that go beyond standard complex network tools by distinguishing direct from indirect pathways. Applied to a data set of atmospheric dynamics, the method identifies several strongly uplifting regions acting as major gateways of perturbations spreading in the atmosphere. Additionally, the method provides a stricter statistical approach to pathways of atmospheric teleconnections, yielding insights into the Pacific-Indian Ocean interaction relevant for monsoonal dynamics. Also for neuroscience or power grids, the novel causal interaction perspective provides a complementary approach to simulations or experiments for understanding the functioning of complex spatio-temporal systems with potential applications in increasing their resilience to shocks or extreme events.

In many real-world complex systems, the time evolution of the network's structure and the dynamic state of its nodes are closely entangled. Here we study opinion formation and imitation on an adaptive complex network which is dependent on the individual dynamic state of each node and vice versa to model the coevolution of renewable resources with the dynamics of harvesting agents on a social network. The adaptive voter model is coupled to a set of identical logistic growth models and we mainly find that, in such systems, the rate of interactions between nodes as well as the adaptive rewiring probability are crucial parameters for controlling the sustainability of the system's equilibrium state. We derive a macroscopic description of the system in terms of ordinary differential equations which provides a general framework to model and quantify the influence of single node dynamics on the macroscopic state of the network. The thus obtained framework is applicable to many fields of study, such as epidemic spreading, opinion formation, or socioecological modeling.

In this study we introduce two new node-weighted difference measures on complex networks as a tool for climate model evaluation. The approach facilitates the quantification of a model's ability to reproduce the spatial covariability structure of climatological time series. We apply our methodology to compare the performance of a statistical and a dynamical regional climate model simulating the South American climate, as represented by the variables 2 m temperature, precipitation, sea level pressure, and geopotential height field at 500 hPa. For each variable, networks are constructed from the model outputs and evaluated against a reference network, derived from the ERA-Interim reanalysis, which also drives the models. We compare two network characteristics, the (linear) adjacency structure and the (nonlinear) clustering structure, and relate our findings to conventional methods of model evaluation. To set a benchmark, we construct different types of random networks and compare them alongside the climate model networks. Our main findings are: (1) The linear network structure is better reproduced by the statistical model statistical analogue resampling scheme (STARS) in summer and winter for all variables except the geopotential height field, where the dynamical model CCLM prevails. (2) For the nonlinear comparison, the seasonal differences are more pronounced and CCLM performs almost as well as STARS in summer (except for sea level pressure), while STARS performs better in winter for all variables., AuthorCount:6

In this work, we demonstrate the use of a Field Programmable Gate Array (FPGA) as a physical platform for realizing chaotic delay differential equations (DDE). Moreover, using our platform, we also experimentally study the synchronization between two time delayed systems. We illustrate two different experimental approaches – one is hardware co-simulation (using a Digilent Atlys with a Xilinx Spartan-6 FPGA) and the other is analog output (using a Terasic DE2-115 with an Altera Cyclone IV E FPGA).

In this work, we demonstrate the use of a Field Programmable Gate Array (FPGA) as a physical platform for realizing chaotic delay differential equations (DDE). Moreover, using our platform, we also experimentally study the synchronization between two time delayed systems. We illustrate two different experimental approaches – one is hardware co-simulation (using a Digilent Atlys with a Xilinx Spartan-6 FPGA) and the other is analog output (using a Terasic DE2-115 with an Altera Cyclone IV E FPGA).

Plug-in electric vehicles (PEVs) can serve in discharge mode as distributed energy and power resources operating as vehicle-to-grid (V2G) devices and in charge mode as loads or grid-to-vehicle devices. It has been documented that PEVs serving as V2G systems can offer possible backup for renewable power sources, can provide reactive power support, active power regulation, load balancing, peak load shaving, can reduce utility operating costs and can generate revenue. Here we show that PEVs can even improve power grid transient stability, that is, stability when the power grid is subjected to large disturbances, including bus faults, generator and branch tripping, and sudden large load changes. A control strategy that regulates the power output of a fleet of PEVs based on the speed of generator turbines is proposed and tested on the New England 10-unit 39-bus power system. By regulating the power output of the PEVs we show that (1) speed and voltage fluctuations resulting from large disturbances can be significantly reduced up to five times, and (2) the critical clearing time can be extended by 20–40%. Overall, the PEVs control strategy makes the power grid more robust., Deutsche Forschungsgemeinschaft 10.13039/501100001659, Government of the Russian Federation, Peer Reviewed

Chaotic dynamics is widely used to design pseudo-random number generators and for other applications such as secure communications and encryption. This paper aims to study the dynamics of discrete-time chaotic maps in the digital (i.e., finite-precision) domain. Differing from the traditional approaches treating a digital chaotic map as a black box with different explanations according to the test results of the output, the dynamical properties of such chaotic maps are first explored with a fixed-point arithmetic, using the Logistic map and the Tent map as two representative examples, from a new perspective with the corresponding state-mapping networks (SMNs). In an SMN, every possible value in the digital domain is considered as a node and the mapping relationship between any pair of nodes is a directed edge. The scale-free properties of the Logistic map's SMN are proved. The analytic results are further extended to the scenario of floating-point arithmetic and for other chaotic maps. Understanding the network structure of a chaotic map's SMN in digital computers can facilitate counteracting the undesirable degeneration of chaotic dynamics in finite-precision domains, helping also classify and improve the randomness of pseudo-random number sequences generated by iterating chaotic maps., Comment: 14 pages, 20 figures

Plug-in electric vehicles (PEVs) can serve in discharge mode as distributed energy and power resources operating as vehicle-to-grid (V2G) devices and in charge mode as loads or grid-to-vehicle (G2V) devices. It has been documented that PEVs serving as V2G systems can offer possible backup for renewable power sources, can provide reactive power support, active power regulation, load balancing, peak load shaving,% and current harmonic filtering, can provide ancillary services as frequency control and spinning reserves, can improve grid efficiency, stability, reliability, and generation dispatch, can reduce utility operating costs and can generate revenue. Here we show that PEVs can even improve power grid transient stability, that is, stability when the power grid is subjected to large disturbances, including bus faults, generator and branch tripping, and sudden large load changes. A control strategy that regulates the power output of a fleet of PEVs based on the speed of generator turbines is proposed and tested on the New England 10-unit 39-bus power system. By regulating the power output of the PEVs we show that (1) speed and voltage fluctuations resulting from large disturbances can be significantly reduced up to 5 times, and (2) the critical clearing time can be extended by 20-40%. Overall, the PEVs control strategy makes the power grid more robust., Comment: 15 pages, 4 figures, submitted to New Journal of Physics

The absence of time-reversal symmetry is a fundamental property of many nonlinear time series. Here, we propose a new set of statistical tests for time series irreversibility based on standard and horizontal visibility graphs. Specifically, we statistically compare the distributions of time-directed variants of the common complex network measures degree and local clustering coefficient. Our approach does not involve surrogate data and is applicable to relatively short time series. We demonstrate its performance for paradigmatic model systems with known time-reversal properties as well m for picking up signatures of nonlinearity in neuro-physiological data., AuthorCount:3

Network theory provides various tools for investigating the structural or functional topology of many complex systems found in nature, technology and society. Nevertheless, it has recently been realised that a considerable number of systems of interest should be treated, more appropriately, as interacting networks or networks of networks. Here we introduce a novel graph-theoretical framework for studying the interaction structure between subnetworks embedded within a complex network of networks. This framework allows us to quantify the structural role of single vertices or whole subnetworks with respect to the interaction of a pair of subnetworks on local, mesoscopic and global topological scales. Climate networks have recently been shown to be a powerful tool for the analysis of climatological data. Applying the general framework for studying interacting networks, we introduce coupled climate subnetworks to represent and investigate the topology of statistical relationships between the fields of distinct climatological variables. Using coupled climate subnetworks to investigate the terrestrial atmosphere's three-dimensional geopotential height field uncovers known as well as interesting novel features of the atmosphere's vertical stratification and general circulation. Specifically, the new measure "cross-betweenness" identifies regions which are particularly important for mediating vertical wind field interactions. The promising results obtained by following the coupled climate subnetwork approach present a first step towards an improved understanding of the Earth system and its complex interacting components from a network perspective.

Many cellular processes require decision making mechanisms, which must act reliably even in the unavoidable presence of substantial amounts of noise. However, the multistable genetic switches that underlie most decision-making processes are dominated by fluctuations that can induce random jumps between alternative cellular states. Here we show, via theoretical modeling of a population of noise-driven bistable genetic switches, that reliable timing of decision-making processes can be accomplished for large enough population sizes, as long as cells are globally coupled by chemical means. In the light of these results, we conjecture that cell proliferation, in the presence of cell–cell communication, could provide a mechanism for reliable decision making in the presence of noise, by triggering cellular transitions only when the whole cell population reaches a certain size. In other words, the summation performed by the cell population would average out the noise and reduce its detrimental impact., Peer Reviewed, Postprint (published version)

We analyze the variability in the X-ray lightcurves of the black hole candidate Cygnus X-1 by linear and nonlinear time series analysis methods. While a linear model describes the over-all second order properties of the observed data well, surrogate data analysis reveals a significant deviation from linearity. We discuss the relation between shot noise models usually applied to analyze these data and linear stochastic autoregressive models. We debate statistical and interpretational issues of surrogate data testing for the present context. Finally, we suggest a combination of tools from linear andnonlinear time series analysis methods as a procedure to test the predictions of astrophysical models on observed data., Comment: 15 pages, to appear in Phys. Rev. E