Symmetries, stability, and control in nonlinear systems and networks

Two wrongs do not make a right: the assumption that an inhibitor acts as an inverse activator

Models of biochemical networks are often large intractable sets of differential equations. To make sense of the complexity, relationships between genes/proteins are presented as connected graphs, the edges of which are drawn to indicate activation or inhibition relationships. These diagrams are useful for drawing qualitative conclusions in many cases by the identifying recurring of topological motifs, for example positive and negative feedback loops. These topological features are usually classified under the presumption that activation and inhibition are inverse relationships. For example, inhibition of an inhibitor is often classified the same as activation of an activator within a motif classification, effectively treating them as equivalent. Whilst in many contexts this may not lead to catastrophic errors, drawing conclusions about the behavior of motifs, pathways or networks from these broad classes of topological feature without adequate mathematical descriptions can lead to obverse outcomes. We investigate the extent to which a biochemical pathway/network will behave quantitatively dissimilar to pathway/ networks with similar typologies formed by swapping inhibitors as the inverse of activators. The purpose of the study is to determine under what circumstances rudimentary qualitative assessment of network structure can provide reliable conclusions as to the quantitative behaviour of the network. Whilst there are others, We focus on two main mathematical qualities which may cause a divergence in the behaviour of two pathways/networks which would otherwise be classified as similar; (i) a modelling feature we label 'bias' and (ii) the precise positioning of activators and inhibitors within simple pathways/motifs.

Breathing cluster in complex neuron-astrocyte networks

Brain activities are featured by spatially distributed neural clusters of coherent firings and a spontaneous slow switching of the clusters between the coherent and incoherent states. Evidences from recent in vivo experiments suggest that astrocytes, a type of glial cell regarded previously as providing only structural and metabolic supports to neurons, participate actively in brain functions by regulating the neural firing activities, yet the underlying mechanism remains unknown. Here, introducing astrocyte as a reservoir of the glutamate released from the neuron synapses, we propose the model of the complex neuron-astrocyte network, and investigate the roles of astrocytes in regulating the cluster synchronization behaviors of networked chaotic neurons. It is found that a specific set of neurons on the network are synchronized and form a cluster, while the remaining neurons are kept as desynchronized. Moreover, during the course of network evolution, the cluster is switching between the synchrony and asynchrony states in an intermittent fashion, henceforth the phenomenon of "breathing cluster." By the method of symmetry-based analysis, we conduct a theoretical investigation on the synchronizability of the cluster. It is revealed that the contents of the cluster are determined by the network symmetry, while the breathing of the cluster is attributed to the interplay between the neural network and the astrocyte. The phenomenon of breathing cluster is demonstrated in different network models, including networks with different sizes, nodal dynamics, and coupling functions. The findings shed light on the cellular mechanism of astrocytes in regulating neural activities and give insights into the state-switching of the neocortex.

Fractional Analysis of Nonlinear Boussinesq Equation under Atangana–Baleanu–Caputo Operator

This article proposed two novel techniques for solving the fractional-order Boussinesq equation. Several new approximate analytical solutions of the second- and fourth-order time-fractional Boussinesq equation are derived using the Laplace transform and the Atangana–Baleanu fractional derivative operator. We give some graphical and tabular representations of the exact and proposed method results, which strongly agree with each other, to demonstrate the trustworthiness of the suggested methods. In addition, the solutions we obtain by applying the proposed approaches at different fractional orders are compared, confirming that as the value trends from the fractional order to the integer order, the result gets closer to the exact solution. The current technique is interesting, and the basic methodology suggests that it might be used to solve various fractional-order nonlinear partial differential equations.

Symmetries in Dynamic Models of Biological Systems: Mathematical Foundations and Implications

Symmetries are ubiquitous in nature. Almost all organisms have some kind of “symmetry”, meaning that their shape does not change under some geometric transformation. This geometrical concept of symmetry is intuitive and easy to recognize. On the other hand, the behavior of many biological systems over time can be described with ordinary differential equations. These dynamic models may also possess “symmetries”, meaning that the time courses of some variables remain invariant under certain transformations. Unlike the previously mentioned symmetries, the ones present in dynamic models are not geometric, but infinitesimal transformations. These mathematical symmetries can be related to certain features of the system’s dynamic behavior, such as robustness or adaptation capabilities. However, they can also arise from questionable modeling choices, which may lead to non-identifiability and non-observability. This paper provides an overview of the types of symmetries that appear in dynamic models, the mathematical tools available for their analyses, the ways in which they are related to system properties, and the implications for biological modeling.

Pattern formation in a four-ring reaction-diffusion network with heterogeneity

In networks of nonlinear oscillators, symmetries place hard constraints on the system that can be exploited to predict universal dynamical features and steady states, providing a rare generic organizing principle for far-from-equilibrium systems. However, the robustness of this class of theories to symmetry-disrupting imperfections is untested in free-running (i.e., non-computer-controlled) systems. Here, we develop a model experimental reaction-diffusion network of chemical oscillators to test applications of the theory of dynamical systems with symmeries in the context of self-organizing systems relevant to biology and soft robotics. The network is a ring of four microreactors containing the oscillatory Belousov-Zhabotinsky reaction coupled to nearest neighbors via diffusion. Assuming homogeneity across the oscillators, theory predicts four categories of stable spatiotemporal phase-locked periodic states and four categories of invariant manifolds that guide and structure transitions between phase-locked states. In our experiments, we observed that three of the four phase-locked states were displaced from their idealized positions and, in the ensemble of measurements, appeared as clusters of different shapes and sizes, and that one of the predicted states was absent. We also observed the predicted symmetry-derived synchronous clustered transients that occur when the dynamical trajectories coincide with invariant manifolds. Quantitative agreement between experiment and numerical simulations is found by accounting for the small amount of experimentally determined heterogeneity in intrinsic frequency. We further elucidate how different patterns of heterogeneity impact each attractor differently through a bifurcation analysis. We show that examining bifurcations along invariant manifolds provides a general framework for developing intuition about how chemical-specific dynamics interact with topology in the presence of heterogeneity that can be applied to other oscillators in other topologies.

Global exponential attitude tracking for spacecraft with gyro bias estimation

Relying on contraction analysis, this paper addresses the global attitude tracking problem of a spacecraft when angular velocity measurements are corrupted by bias. A nonlinear observer with exponential convergence is designed firstly to estimate the bias in gyro sensors. Then an exponentially convergent attitude tracking controller with gyro bias correction is devised. Next, to remove the topological constraints of unit quaternions for global stability, a switching variable with hysteresis is incorporated in the control loop, enhancing the robustness in the presence of measurement noise and energy efficiency by preventing the unwinding phenomenon. Numeric simulations are shown to illustrate the performance and compare with other similar controllers in terms of tracking error, estimation error and energy efficiency, as well as the robustness to noisy measurements and time-varying bias in gyro sensors.

Boundary Value Problems of Hadamard Fractional Differential Equations of Variable Order

A boundary value problem for Hadamard fractional differential equations of variable order is studied. Note the symmetry of a transformation of a system of differential equations is connected with the locally solvability which is the same as the existence of solutions. It leads to the necessity of obtaining existence criteria for a boundary value problem for Hadamard fractional differential equations of variable order. Also, the stability in the sense of Ulam–Hyers–Rassias is investigated. The results are obtained based on the Kuratowski measure of noncompactness. An example illustrates the validity of the observed results.

Multi-agent Safety Verification Using Symmetry Transformations

We show that symmetry transformations and caching can enable scalable, and possibly unbounded, verification of multi-agent systems. Symmetry transformations map any solution of the system to another solution. We show that this property can be used to transform cached reachsets to compute new reachsets, for hybrid and multi-agent models. We develop a notion of a virtual system which defines symmetry transformations for a broad class of agent models that visit waypoint sequences. Using this notion of a virtual system, we present a prototype tool CacheReach that builds a cache of reachsets, in a way that is agnostic of the representation of the reachsets and the reachability analysis method used. Our experimental evaluation of CacheReach shows up to 64% savings in safety verification computation time on multi-agent systems with 3-dimensional linear and 4-dimensional nonlinear fixed-wing aircraft models following sequences of waypoints. These savings and our theoretical results illustrate the potential benefits of using symmetry-based caching in the safety verification of multi-agent systems.

Cluster synchronization in networked nonidentical chaotic oscillators

In exploring oscillator synchronization, a general observation is that as the oscillators become nonidentical, e.g., introducing parameter mismatch among the oscillators, the propensity for synchronization will be deteriorated. Yet in realistic systems, parameter mismatch is unavoidable and even worse in some circumstances, the oscillators might follow different types of dynamics. Considering the significance of synchronization to the functioning of many realistic systems, it is natural to ask the following question: Can synchronization be achieved in networked oscillators of clearly different parameters or dynamics? Here, by the model of networked chaotic oscillators, we are able to demonstrate and argue that, despite the presence of parameter mismatch (or different dynamics), stable synchronization can still be achieved on symmetric complex networks. Specifically, we find that when the oscillators are configured on the network in such a way that the symmetric nodes have similar parameters (or follow the same type of dynamics), cluster synchronization can be generated. The stabilities of the cluster synchronization states are analyzed by the method of symmetry-based stability analysis, with the theoretical predictions in good agreement with the numerical results. Our study sheds light on the interplay between symmetry and cluster synchronization in complex networks and give insights into the functionalities of realistic systems where nonidentical nonlinear oscillators are presented and cluster synchronization is crucial.

Symmetry induced group consensus

There has been substantial work studying consensus problems for which there is a single common final state, although there are many real-world complex networks for which the complete consensus may be undesirable. More recently, the concept of group consensus whereby subsets of nodes are chosen to reach a common final state distinct from others has been developed, but the methods tend to be independent of the underlying network topology. Here, an alternative type of group consensus is achieved for which nodes that are "symmetric" achieve a common final state. The dynamic behavior may be distinct between nodes that are not symmetric. We show how group consensus for heterogeneous linear agents can be achieved via a simple coupling protocol that exploits the topology of the network. We see that group consensus is possible on both stable and unstable trajectories. We observe and characterize the phenomenon of "isolated group consensus," where one or more clusters may achieve group consensus while the other clusters do not.

How to desynchronize quorum-sensing networks

In this paper we investigate how so-called quorum-sensing networks can be desynchronized. Such networks, which arise in many important application fields, such as systems biology, are characterized by the fact that direct communication between network nodes is superimposed to communication with a shared, environmental variable. In particular, we provide a new sufficient condition ensuring that the trajectories of these quorum-sensing networks diverge from their synchronous evolution. Then, we apply our result to study two applications.

Inducing isolated-desynchronization states in complex network of coupled chaotic oscillators

In a recent study about chaos synchronization in complex networks [Nat. Commun. 5, 4079 (2014)NCAOBW2041-172310.1038/ncomms5079], it is shown that a stable synchronous cluster may coexist with vast asynchronous nodes, resembling the phenomenon of a chimera state observed in a regular network of coupled periodic oscillators. Although of practical significance, this new type of state, namely, the isolated-desynchronization state, is hardly observed in practice due to its strict requirements on the network topology. Here, by the strategy of pinning coupling, we propose an effective method for inducing isolated-desynchronization states in symmetric networks of coupled chaotic oscillators. Theoretical analysis based on eigenvalue analysis shows that, by pinning a group of symmetric nodes in the network, there exists a critical pinning strength beyond which the group of pinned nodes can completely be synchronized while the unpinned nodes remain asynchronous. The feasibility and efficiency of the control method are verified by numerical simulations of both artificial and real-world complex networks with the numerical results in good agreement with the theoretical predictions.

Graph partitions and cluster synchronization in networks of oscillators

Synchronization over networks depends strongly on the structure of the coupling between the oscillators. When the coupling presents certain regularities, the dynamics can be coarse-grained into clusters by means of External Equitable Partitions of the network graph and their associated quotient graphs. We exploit this graph-theoretical concept to study the phenomenon of cluster synchronization, in which different groups of nodes converge to distinct behaviors. We derive conditions and properties of networks in which such clustered behavior emerges and show that the ensuing dynamics is the result of the localization of the eigenvectors of the associated graph Laplacians linked to the existence of invariant subspaces. The framework is applied to both linear and non-linear models, first for the standard case of networks with positive edges, before being generalized to the case of signed networks with both positive and negative interactions. We illustrate our results with examples of both signed and unsigned graphs for consensus dynamics and for partial synchronization of oscillator networks under the master stability function as well as Kuramoto oscillators.

Introduction to focus issue: Patterns of network synchronization

The study of synchronization of coupled systems is currently undergoing a major surge fueled by recent discoveries of new forms of collective dynamics and the development of techniques to characterize a myriad of new patterns of network synchronization. This includes chimera states, phenomena determined by symmetry, remote synchronization, and asymmetry-induced synchronization. This Focus Issue presents a selection of contributions at the forefront of these developments, to which this introduction is intended to offer an up-to-date foundation.

Controlling synchronous patterns in complex networks

Although the set of permutation symmetries of a complex network could be very large, few of them give rise to stable synchronous patterns. Here we present a general framework and develop techniques for controlling synchronization patterns in complex network of coupled chaotic oscillators. Specifically, according to the network permutation symmetry, we design a small-size and weighted network, namely the control network, and use it to control the large-size complex network by means of pinning coupling. We argue mathematically that for any of the network symmetries, there always exists a critical pinning strength beyond which the unstable synchronous pattern associated to this symmetry can be stabilized. The feasibility of the control method is verified by numerical simulations of both artificial and real-world networks and demonstrated experimentally in systems of coupled chaotic circuits. Our studies show the controllability of synchronous patterns in complex networks of coupled chaotic oscillators.

Complete characterization of the stability of cluster synchronization in complex dynamical networks

Synchronization is an important and prevalent phenomenon in natural and engineered systems. In many dynamical networks, the coupling is balanced or adjusted to admit global synchronization, a condition called Laplacian coupling. Many networks exhibit incomplete synchronization, where two or more clusters of synchronization persist, and computational group theory has recently proved to be valuable in discovering these cluster states based on the topology of the network. In the important case of Laplacian coupling, additional synchronization patterns can exist that would not be predicted from the group theory analysis alone. Understanding how and when clusters form, merge, and persist is essential for understanding collective dynamics, synchronization, and failure mechanisms of complex networks such as electric power grids, distributed control networks, and autonomous swarming vehicles. We describe a method to find and analyze all of the possible cluster synchronization patterns in a Laplacian-coupled network, by applying methods of computational group theory to dynamically equivalent networks. We present a general technique to evaluate the stability of each of the dynamically valid cluster synchronization patterns. Our results are validated in an optoelectronic experiment on a five-node network that confirms the synchronization patterns predicted by the theory.

Observability and Controllability of Nonlinear Networks: The Role of Symmetry

Observability and controllability are essential concepts to the design of predictive observer models and feedback controllers of networked systems. For example, noncontrollable mathematical models of real systems have subspaces that influence model behavior, but cannot be controlled by an input. Such subspaces can be difficult to determine in complex nonlinear networks. Since almost all of the present theory was developed for linear networks without symmetries, here we present a numerical and group representational framework, to quantify the observability and controllability of nonlinear networks with explicit symmetries that shows the connection between symmetries and nonlinear measures of observability and controllability. We numerically observe and theoretically predict that not all symmetries have the same effect on network observation and control. Our analysis shows that the presence of symmetry in a network may decrease observability and controllability, although networks containing only rotational symmetries remain controllable and observable. These results alter our view of the nature of observability and controllability in complex networks, change our understanding of structural controllability, and affect the design of mathematical models to observe and control such networks.

Observability and coarse graining of consensus dynamics through the external equitable partition

Using the intrinsic relationship between the external equitable partition (EEP) and the spectral properties of the graph Laplacian, we characterize convergence and observability properties of consensus dynamics on networks. In particular, we establish the relationship between the original consensus dynamics and the associated consensus of the quotient graph under varied initial conditions, and characterize the asymptotic convergence to the synchronization manifold under nonuniform input signals. We also show that the EEP with respect to a node can reveal nodes in the graph with an increased rate of asymptotic convergence to the consensus value, as characterized by the second smallest eigenvalue of the quotient Laplacian. Finally, we show that the quotient graph preserves the observability properties of the full graph and how the inheritance by the quotient graph of particular aspects of the eigenstructure of the full Laplacian underpins the observability and convergence properties of the system.

Remote synchronization reveals network symmetries and functional modules

We study a Kuramoto model in which the oscillators are associated with the nodes of a complex network and the interactions include a phase frustration, thus preventing full synchronization. The system organizes into a regime of remote synchronization where pairs of nodes with the same network symmetry are fully synchronized, despite their distance on the graph. We provide analytical arguments to explain this result, and we show how the frustration parameter affects the distribution of phases. An application to brain networks suggests that anatomical symmetry plays a role in neural synchronization by determining correlated functional modules across distant locations.

The utility of paradoxical components in biological circuits

A recurring theme in biological circuits is the existence of components that are antagonistically bifunctional, in the sense that they simultaneously have two opposing effects on the same target or biological process. Examples include bifunctional enzymes that carry out two opposing reactions such as phosphorylating and dephosphorylating the same target, regulators that activate and also repress a gene in circuits called incoherent feedforward loops, and cytokines that signal immune cells to both proliferate and die. Such components are termed "paradoxical", and in this review we discuss how they can provide useful features to cell circuits that are otherwise difficult to achieve. In particular, we summarize how paradoxical components can provide robustness, generate temporal pulses, and provide fold-change detection, in which circuits respond to relative rather than absolute changes in signals.

Comparing apples and oranges: fold-change detection of multiple simultaneous inputs

Sensory systems often detect multiple types of inputs. For example, a receptor in a cell-signaling system often binds multiple kinds of ligands, and sensory neurons can respond to different types of stimuli. How do sensory systems compare these different kinds of signals? Here, we consider this question in a class of sensory systems – including bacterial chemotaxis- which have a property known as fold-change detection: their output dynamics, including amplitude and response time, depends only on the relative changes in signal, rather than absolute changes, over a range of several decades of signal. We analyze how fold-change detection systems respond to multiple signals, using mathematical models. Suppose that a step of fold F₁ is made in input 1, together with a step of F₂ in input 2. What total response does the system provide? We show that when both input signals impact the same receptor with equal number of binding sites, the integrated response is multiplicative: the response dynamics depend only on the product of the two fold changes, F₁F₂. When the inputs bind the same receptor with different number of sites n₁ and n₂, the dynamics depend on a product of power laws, . Thus, two input signals which vary over time in an inverse way can lead to no response. When the two inputs affect two different receptors, other types of integration may be found and generally the system is not constrained to respond according to the product of the fold-change of each signal. These predictions can be readily tested experimentally, by providing cells with two simultaneously varying input signals. The present study suggests how cells can compare apples and oranges, namely by comparing each to its own background level, and then multiplying these two fold-changes.