Complexified synchrony.

The Kuramoto model and its generalizations have been broadly employed to characterize and mechanistically understand various collective dynamical phenomena, especially the emergence of synchrony among coupled oscillators. Despite almost five decades of research, many questions remain open, in particular, for finite-size systems. Here, we generalize recent work [Thümler et al., Phys. Rev. Lett. 130, 187201 (2023)] on the finite-size Kuramoto model with its state variables analytically continued to the complex domain and also complexify its system parameters. Intriguingly, systems of two units with purely imaginary coupling do not actively synchronize even for arbitrarily large magnitudes of the coupling strengths, |K|→∞, but exhibit conservative dynamics with asynchronous rotations or librations for all |K|. For generic complex coupling, both traditional phase-locked states and asynchronous states generalize to complex locked states, fixed points off the real subspace that exist even for arbitrarily weak coupling. We analyze a new collective mode of rotations exhibiting finite, yet arbitrarily large rotation numbers. Numerical simulations for large networks indicate a novel form of discontinuous phase transition. We close by pointing to a range of exciting questions for future research.

Synchrony for Weak Coupling in the Complexified Kuramoto Model.

We present the finite-size Kuramoto model analytically continued from real to complex variables and analyze its collective dynamics. For strong coupling, synchrony appears through locked states that constitute attractors, as for the real-variable system. However, synchrony persists in the form of complex locked states for coupling strengths K below the transition K^{(pl)} to classical phase locking. Stable complex locked states indicate a locked subpopulation of zero mean frequency in the real-variable model and their imaginary parts help identifying which units comprise that subpopulation. We uncover a second transition at K^{'}

Designing spiking neural networks for robust and reconfigurable computation.

Networks of spiking neurons constitute analog systems capable of effective and resilient computing. Recent work has shown that networks of symmetrically connected inhibitory neurons may implement basic computations such that they are resilient to system disruption. For instance, if the functionality of one neuron is lost (e.g., the neuron, along with its connections, is removed), the system may be robustly reconfigured by adapting only one global system parameter. How to effectively adapt network parameters to robustly perform a given computation is still unclear. Here, we present an analytical approach to derive such parameters. Specifically, we analyze k-winners-takes-all (k-WTA) computations, basic computational tasks of identifying the k largest signals from a total of N input signals from which one can construct any computation. We identify and characterize different dynamical regimes and provide analytical expressions for the transitions between different numbers k of winners as a function of both input and network parameters. Our results thereby provide analytical insights about the dynamics underlying k-winner-takes-all functionality as well as an effective way of designing spiking neural network computing systems implementing disruption-resilient dynamics.

Revealing system dimension from single-variable time series.

Complex and networked dynamical systems characterize the time evolution of most of the natural and human-made world. The dimension of their state space, i.e., the number of (active) variables in such systems, arguably constitutes their most fundamental property yet is hard to access in general. Recent work [Haehne et al., Phys. Rev. Lett. 122, 158301 (2019)] introduced a method of inferring the state space dimension of a multi-dimensional networked system from repeatedly measuring time series of only some fraction of observed variables, while all other variables are hidden. Here, we show how time series observations of one single variable are mathematically sufficient for dimension inference. We reveal how successful inference in practice depends on numerical constraints of data evaluation and on experimental choices, in particular the sampling intervals and the total duration of observations. We illustrate robust inference for systems of up to N=10 to N=100 variables by evaluating time series observations of a single variable. We discuss how the faithfulness of the inference depends on the quality and quantity of collected data and formulate some general rules of thumb on how to approach the measurement of a given system.

Absence of pure voltage instabilities in the third-order model of power grid dynamics.

Secure operation of electric power grids fundamentally relies on their dynamical stability properties. For the third-order model, a paradigmatic model that captures voltage dynamics, three routes to instability are established in the literature: a pure rotor angle instability, a pure voltage instability, and one instability induced by the interplay of both. Here, we demonstrate that one of these routes, the pure voltage instability, requires infinite voltage amplitudes and is, thus, nonphysical. We show that voltage collapse dynamics nevertheless exist in the absence of any voltage instabilities.

Decoding complex state space trajectories for neural computing.

In biological neural circuits as well as in bio-inspired information processing systems, trajectories in high-dimensional state-space encode the solutions to computational tasks performed by complex dynamical systems. Due to the high state-space dimensionality and the number of possible encoding trajectories rapidly growing with input signal dimension, decoding these trajectories constitutes a major challenge on its own, in particular, as exponentially growing (space or time) requirements for decoding would render the original computational paradigm inefficient. Here, we suggest an approach to overcome this problem. We propose an efficient decoding scheme for trajectories emerging in spiking neural circuits that exhibit linear scaling with input signal dimensionality. We focus on the dynamics near a sequence of unstable saddle states that naturally emerge in a range of physical systems and provide a novel paradigm for analog computing, for instance, in the form of heteroclinic computing. Identifying simple measures of coordinated activity (synchrony) that are commonly applicable to all trajectories representing the same percept, we design robust readouts whose sizes and time requirements increase only linearly with the system size. These results move the conceptual boundary so far hindering the implementation of heteroclinic computing in hardware and may also catalyze efficient decoding strategies in spiking neural networks in general.

Stochastic facilitation in heteroclinic communication channels.

Biological neural systems encode and transmit information as patterns of activity tracing complex trajectories in high-dimensional state spaces, inspiring alternative paradigms of information processing. Heteroclinic networks, naturally emerging in artificial neural systems, are networks of saddles in state space that provide a transparent approach to generate complex trajectories via controlled switches among interconnected saddles. External signals induce specific switching sequences, thus dynamically encoding inputs as trajectories. Recent works have focused either on computational aspects of heteroclinic networks, i.e., Heteroclinic Computing, or their stochastic properties under noise. Yet, how well such systems may transmit information remains an open question. Here, we investigate the information transmission properties of heteroclinic networks, studying them as communication channels. Choosing a tractable but representative system exhibiting a heteroclinic network, we investigate the mutual information rate (MIR) between input signals and the resulting sequences of states as the level of noise varies. Intriguingly, MIR does not decrease monotonically with increasing noise. Intermediate noise levels indeed maximize the information transmission capacity by promoting an increased yet controlled exploration of the underlying network of states. Complementing standard stochastic resonance, these results highlight the constructive effect of stochastic facilitation (i.e., noise-enhanced information transfer) on heteroclinic communication channels and possibly on more general dynamical systems exhibiting complex trajectories in state space.

Obscuring digital route-choice information prevents delay-induced congestion.

Although routing applications increasingly affect individual mobility choices, their impact on collective traffic dynamics remains largely unknown. Smart communication technologies provide accurate traffic data for choosing one route over other alternatives; yet, inherent delays undermine the potential usefulness of such information. Here, we introduce and analyze a simple model of collective traffic dynamics, which results from route choice relying on outdated traffic information. We find for sufficiently small information delays that traffic flows are stable against perturbations. However, delays beyond a bifurcation point induce self-organized flow oscillations of increasing amplitude-congestion arises. Providing delayed information averaged over sufficiently long periods of time or, more intriguingly, reducing the number of vehicles adhering to the route recommendations may prevent such delay-induced congestion. We reveal the fundamental mechanisms underlying these phenomena in a minimal two-road model and demonstrate their generality in microscopic, agent-based simulations of a road network system. Our findings provide a way to conceptually understand system-wide traffic dynamics caused by broadly used non-instantaneous routing information and suggest how resulting unintended collective traffic states could be avoided.

Scaling Laws of Collective Ride-Sharing Dynamics.

Ride-sharing services may substantially contribute to future sustainable mobility. Their collective dynamics intricately depend on the topology of the underlying street network, the spatiotemporal demand distribution, and the dispatching algorithm. The efficiency of ride-sharing fleets is thus hard to quantify and compare in a unified way. Here, we derive an efficiency observable from the collective nonlinear dynamics and show that it exhibits a universal scaling law. For any given dispatcher, we find a common scaling that yields data collapse across qualitatively different topologies of model networks and empirical street networks from cities, islands, and rural areas. A mean-field analysis confirms this view and reveals a single scaling parameter that jointly captures the influence of network topology and demand distribution. These results further our conceptual understanding of the collective dynamics of ride-sharing fleets and support the evaluation of ride-sharing services and their transfer to previously unserviced regions or unprecedented demand patterns.

Topological Determinants of Perturbation Spreading in Networks.

Spreading phenomena essentially underlie the dynamics of various natural and technological networked systems, yet how spatiotemporal propagation patterns emerge from such networks remains largely unknown. Here we propose a novel approach that reveals universal features determining the spreading dynamics in diffusively coupled networks and disentangles them from factors that are system specific. In particular, we first analytically identify a purely topological factor encoding the interaction structure and strength, and second, numerically estimate a master function characterizing the universal scaling of the perturbation arrival times across topologically different networks. The proposed approach thereby provides intuitive insights into complex propagation patterns as well as accurate predictions for the perturbation arrival times. The approach readily generalizes to a wide range of networked systems with diffusive couplings and may contribute to assess the risks of transient influences of ubiquitous perturbations in real-world systems.

Vulnerability in dynamically driven oscillatory networks and power grids.

Vulnerability of networks has so far been quantified mainly for structural properties. In driven systems, however, vulnerability intrinsically relies on the collective response dynamics. As shown recently, dynamic response patterns emerging in driven oscillator networks and AC power grid models are highly heterogeneous and nontrivial, depending jointly on the driving frequency, the interaction topology of the network, and the node or nodes driven. Identifying which nodes are most susceptible to dynamic driving and may thus make the system as a whole vulnerable to external input signals, however, remains a challenge. Here, we propose an easy-to-compute Dynamic Vulnerability Index (DVI) for identifying those nodes that exhibit largest amplitude responses to dynamic driving signals with given power spectra and thus are most vulnerable. The DVI is based on linear response theory, as such generic, and enables robust predictions. It thus shows potential for a wide range of applications across dynamically driven networks, for instance, for identifying the vulnerable nodes in power grids driven by fluctuating inputs from renewable energy sources and fluctuating power output to consumers.

Detecting Hidden Units and Network Size from Perceptible Dynamics.

The number of units of a network dynamical system, its size, arguably constitutes its most fundamental property. Many units of a network, however, are typically experimentally inaccessible such that the network size is often unknown. Here we introduce a detection matrix that suitably arranges multiple transient time series from the subset of accessible units to detect network size via matching rank constraints. The proposed method is model-free, applicable across system types and interaction topologies, and applies to nonstationary dynamics near fixed points, as well as periodic and chaotic collective motion. Even if only a small minority of units is perceptible and for systems simultaneously exhibiting nonlinearities, heterogeneities, and noise, exact size detection is feasible. We illustrate applicability for a paradigmatic class of biochemical reaction networks.

Adhesion-Induced Discontinuous Transitions and Classifying Social Networks.

Transition points mark qualitative changes in the macroscopic properties of large complex systems. Explosive transitions, exhibiting properties of both continuous and discontinuous phase transitions, have recently been uncovered in network growth processes. Real networks not only grow but often also restructure; yet common network restructuring processes, such as small world rewiring, do not exhibit phase transitions. Here, we uncover a class of intrinsically discontinuous transitions emerging in network restructuring processes controlled by adhesion-the preference of a chosen link to remain connected to its end node. Deriving a master equation for the temporal network evolution and working out an analytic solution, we identify genuinely discontinuous transitions in nongrowing networks, separating qualitatively distinct phases with monotonic and with peaked degree distributions. Intriguingly, our analysis of empirical data indicates a separation between the same two forms of degree distributions distinguishing abstract from face-to-face social networks.

Inferring Network Connectivity from Event Timing Patterns.

Reconstructing network connectivity from the collective dynamics of a system typically requires access to its complete continuous-time evolution, although these are often experimentally inaccessible. Here we propose a theory for revealing physical connectivity of networked systems only from the event time series their intrinsic collective dynamics generate. Representing the patterns of event timings in an event space spanned by interevent and cross-event intervals, we reveal which other units directly influence the interevent times of any given unit. For illustration, we linearize an event-space mapping constructed from the spiking patterns in model neural circuits to reveal the presence or absence of synapses between any pair of neurons, as well as whether the coupling acts in an inhibiting or activating (excitatory) manner. The proposed model-independent reconstruction theory is scalable to larger networks and may thus play an important role in the reconstruction of networks from biology to social science and engineering.

Hysteretic Percolation from Locally Optimal Individual Decisions.

The emergence of large-scale connectivity underlies the proper functioning of many networked systems, ranging from social networks and technological infrastructure to global trade networks. Percolation theory characterizes network formation following stochastic local rules, while optimization models of network formation assume a single controlling authority or one global objective function. In socioeconomic networks, however, network formation is often driven by individual, locally optimal decisions. How such decisions impact connectivity is only poorly understood to date. Here, we study how large-scale connectivity emerges from decisions made by rational agents that individually minimize costs for satisfying their demand. We establish that the solution of the resulting nonlinear optimization model is exactly given by the final state of a local percolation process. This allows us to systematically analyze how locally optimal decisions on the microlevel define the structure of networks on the macroscopic scale.

Quantifying transient spreading dynamics on networks.

Spreading phenomena on networks are essential for the collective dynamics of various natural and technological systems, from information spreading in gene regulatory networks to neural circuits and from epidemics to supply networks experiencing perturbations. Still, how local disturbances spread across networks is not yet quantitatively understood. Here, we analyze generic spreading dynamics in deterministic network dynamical systems close to a given operating point. Standard dynamical systems' theory does not explicitly provide measures for arrival times and amplitudes of a transient spreading signal because it focuses on invariant sets, invariant measures, and other quantities less relevant for transient behavior. We here change the perspective and introduce formal expectation values for deterministic dynamics to work out a theory explicitly quantifying when and how strongly a perturbation initiated at one unit of a network impacts any other. The theory provides explicit timing and amplitude information as a function of the relative position of initially perturbed and responding unit as well as depending on the entire network topology.

A universal order parameter for synchrony in networks of limit cycle oscillators.

We analyze the properties of order parameters measuring synchronization and phase locking in complex oscillator networks. First, we review network order parameters previously introduced and reveal several shortcomings: none of the introduced order parameters capture all transitions from incoherence over phase locking to full synchrony for arbitrary, finite networks. We then introduce an alternative, universal order parameter that accurately tracks the degree of partial phase locking and synchronization, adapting the traditional definition to account for the network topology and its influence on the phase coherence of the oscillators. We rigorously prove that this order parameter is strictly monotonously increasing with the coupling strength in the phase locked state, directly reflecting the dynamic stability of the network. Furthermore, it indicates the onset of full phase locking by a diverging slope at the critical coupling strength. The order parameter may find applications across systems where different types of synchrony are possible, including biological networks and power grids.

Cycle flows and multistability in oscillatory networks.

We study multistability in phase locked states in networks of phase oscillators under both Kuramoto dynamics and swing equation dynamics-a popular model for studying coarse-scale dynamics of an electrical AC power grid. We first establish the existence of geometrically frustrated states in such systems-where although a steady state flow pattern exists, no fixed point exists in the dynamical variables of phases due to geometrical constraints. We then describe the stable fixed points of the system with phase differences along each edge not exceeding π/2 in terms of cycle flows-constant flows along each simple cycle-as opposed to phase angles or flows. The cycle flow formalism allows us to compute tight upper and lower bounds to the number of fixed points in ring networks. We show that long elementary cycles, strong edge weights, and spatially homogeneous distribution of natural frequencies (for the Kuramoto model) or power injections (for the oscillator model for power grids) cause such networks to have more fixed points. We generalize some of these bounds to arbitrary planar topologies and derive scaling relations in the limit of large capacity and large cycle lengths, which we show to be quite accurate by numerical computation. Finally, we present an algorithm to compute all phase locked states-both stable and unstable-for planar networks.

Noise-constrained switching times for heteroclinic computing.

Heteroclinic computing offers a novel paradigm for universal computation by collective system dynamics. In such a paradigm, input signals are encoded as complex periodic orbits approaching specific sequences of saddle states. Without inputs, the relevant states together with the heteroclinic connections between them form a network of states-the heteroclinic network. Systems of pulse-coupled oscillators or spiking neurons naturally exhibit such heteroclinic networks of saddles, thereby providing a substrate for general analog computations. Several challenges need to be resolved before it becomes possible to effectively realize heteroclinic computing in hardware. The time scales on which computations are performed crucially depend on the switching times between saddles, which in turn are jointly controlled by the system's intrinsic dynamics and the level of external and measurement noise. The nonlinear dynamics of pulse-coupled systems often strongly deviate from that of time-continuously coupled (e.g., phase-coupled) systems. The factors impacting switching times in pulse-coupled systems are still not well understood. Here we systematically investigate switching times in dependence of the levels of noise and intrinsic dissipation in the system. We specifically reveal how local responses to pulses coact with external noise. Our findings confirm that, like in time-continuous phase-coupled systems, piecewise-continuous pulse-coupled systems exhibit switching times that transiently increase exponentially with the number of switches up to some order of magnitude set by the noise level. Complementarily, we show that switching times may constitute a good predictor for the computation reliability, indicating how often an input signal must be reiterated. By characterizing switching times between two saddles in conjunction with the reliability of a computation, our results provide a first step beyond the coding of input signal identities toward a complementary coding for the intensity of those signals. The results offer insights on how future heteroclinic computing systems may operate under natural, and thus noisy, conditions.

Vocal repertoire of long-finned pilot whales (Globicephala melas) in northern Norway.

The knowledge of the vocal repertoire of pilot whales is very limited. In this paper, the vocal repertoire of long-finned pilot whales recorded during different encounters in the Vestfjord in northern Norway between November 2006 and August 2010 are described. Sounds were analysed using two different methods: (1) an observer-based audio-visual inspection of FFT-derived spectrograms, with which, besides a general variety of clicks, buzzes, nonharmonic sounds, and whistles, 129 different distinct call types and 25 subtypes were distinguished. These call types included pulsed calls and discrete structured whistles varying from simple to highly complex structures composed of several segments and elements. In addition, ultrasonic whistles previously not described for pilot whales were found. In addition to the diversity of single calls, call sequences consisting of repetitions and combinations of specific call types were recorded and (2) a parametric approach that permitted the confirmation of the high variability in pilot whale call structures was developed. It is concluded that the pilot whale vocal repertoire is among the most complex for the mammalian species and the high structural variability, along with call repetitions and combinations, require a closer investigation to judge their importance for vocal communication.