Sublattice synchronization of chaotic networks with delayed couplings

Cluster Synchronization for Interacting Clusters of Nonidentical Nodes via Intermittent Pinning Control

The cluster synchronization problem is investigated using intermittent pinning control for the interacting clusters of nonidentical nodes that may represent either general linear systems or nonlinear oscillators. These nodes communicate over general network topology, and the nodes from different clusters are governed by different self-dynamics. A unified convergence analysis is provided to analyze the synchronization via intermittent pinning controllers. It is observed that the nodes in different clusters synchronize to the given patterns if a directed spanning tree exists in the underlying topology of every extended cluster (which consists of the original cluster of nodes as well as their pinning node) and one algebraic condition holds. Structural conditions are then derived to guarantee such an algebraic condition. That is: 1) if the intracluster couplings are with sufficiently strong strength and the pinning controller is with sufficiently long execution time in every period, then the algebraic condition for general linear systems is warranted and 2) if every cluster is with the sufficiently strong intracluster coupling strength, then the pinning controller for nonlinear oscillators can have its execution time to be arbitrarily short. The lower bounds are explicitly derived both for these coupling strengths and the execution time of the pinning controller in every period. In addition, in regard to the above-mentioned structural conditions for nonlinear systems, an adaptive law is further introduced to adapt the intracluster coupling strength, such that the cluster synchronization for nonlinear systems is achieved.

Interplay of delay and multiplexing: Impact on cluster synchronization

Communication delays and multiplexing are ubiquitous features of real-world network systems. We here introduce a simple model where these two features are simultaneously present and report the rich phenomenology which is actually due to their interplay on cluster synchronization. A delay in one layer has non trivial impacts on the collective dynamics of the other layers, enhancing or suppressing synchronization. At the same time, multiplexing may also enhance cluster synchronization of delayed layers. We elucidate several nontrivial (and anti-intuitive) scenarios, which are of interest and potential application in various real-world systems, where the introduction of a delay may render synchronization of a layer robust against changes in the properties of the other layers.

Interplay of degree correlations and cluster synchronization

We study the evolution of coupled chaotic dynamics on networks and investigate the role of degree-degree correlation in the networks' cluster synchronizability. We find that an increase in the disassortativity can lead to an increase or a decrease in the cluster synchronizability depending on the degree distribution and average connectivity of the network. Networks with heterogeneous degree distribution exhibit significant changes in cluster synchronizability as well as in the phenomena behind cluster synchronization as compared to those of homogeneous networks. Interestingly, cluster synchronizability of a network may be very different from global synchronizability due to the presence of the driven phenomenon behind the cluster formation. Furthermore, we show how degeneracy at the zero eigenvalues provides an understanding of the occurrence of the driven phenomenon behind the synchronization in disassortative networks. The results demonstrate the importance of degree-degree correlations in determining cluster synchronization behavior of complex networks and hence have potential applications in understanding and predicting dynamical behavior of complex systems ranging from brain to social systems.

Chaos synchronization by resonance of multiple delay times

Chaos synchronization may arise in networks of nonlinear units with delayed couplings. We study complete and sublattice synchronization generated by resonance of two large time delays with a specific ratio. As it is known for single-delay networks, the number of synchronized sublattices is determined by the greatest common divisor (GCD) of the network loop lengths. We demonstrate analytically the GCD condition in networks of iterated Bernoulli maps with multiple delay times and complement our analytic results by numerical phase diagrams, providing parameter regions showing complete and sublattice synchronization by resonance for Tent and Bernoulli maps. We compare networks with the same GCD with single and multiple delays, and we investigate the sensitivity of the correlation to a detuning between the delays in a network of coupled Stuart-Landau oscillators. Moreover, the GCD condition also allows detection of time-delay resonances, leading to high correlations in nonsynchronizable networks. Specifically, GCD-induced resonances are observed both in a chaotic asymmetric network and in doubly connected rings of delay-coupled noisy linear oscillators.

Impact of a leader on cluster synchronization

We study the mechanisms of frequency-synchronized cluster formation in coupled nonidentical oscillators and investigate the impact of presence of a leader on the cluster synchronization. We find that the introduction of a leader, a node having large parameter mismatch, induces a profound change in the cluster pattern as well as in the mechanism of the cluster formation. The emergence of a leader generates a transition from the driven to the mixed cluster state. The frequency mismatch turns out to be responsible for this transition. Additionally, for a chaotic evolution, the driven mechanism stands as a primary mechanism for the cluster formation, whereas for a periodic evolution the self-organization mechanism becomes equally responsible.

Impact of heterogeneous delays on cluster synchronization

We investigate cluster synchronization in coupled map networks in the presence of heterogeneous delays. We find that while the parity of heterogeneous delays plays a crucial role in determining the mechanism of cluster formation, the cluster synchronizability of the network gets affected by the amount of heterogeneity. In addition, heterogeneity in delays induces a rich cluster pattern as compared to homogeneous delays. The complete bipartite network stands as an extreme example of this richness, where robust ideal driven clusters observed for the undelayed and homogeneously delayed cases dismantle, yielding versatile cluster patterns as heterogeneity in the delay is introduced. We provide arguments behind this behavior using a Lyapunov function analysis. Furthermore, the interplay between the number of connections in the network and the amount of heterogeneity plays an important role in deciding the cluster formation.

Hierarchy and polysynchrony in an adaptive network

We describe a simple adaptive network of coupled chaotic maps. The network reaches a stationary state (frozen topology) for all values of the coupling parameter, although the dynamics of the maps at the nodes of the network can be nontrivial. The structure of the network shows interesting hierarchical properties and in certain parameter regions the dynamics is polysynchronous: Nodes can be divided in differently synchronized classes but, contrary to cluster synchronization, nodes in the same class need not be connected to each other. These complicated synchrony patterns have been conjectured to play roles in systems biology and circuits. The adaptive system we study describes ways whereby this behavior can evolve from undifferentiated nodes.

Clustering in delay-coupled smooth and relaxational chemical oscillators

We investigate cluster synchronization in networks of nonlinear systems with time-delayed coupling. Using a generic model for a system close to the Hopf bifurcation, we predict the order of appearance of different cluster states and their corresponding common frequencies depending upon coupling delay. We may tune the delay time in order to ensure the existence and stability of a specific cluster state. We qualitatively and quantitatively confirm these results in experiments with chemical oscillators. The experiments also exhibit strongly nonlinear relaxation oscillations as we increase the voltage, i.e., go further away from the Hopf bifurcation. In this regime, we find secondary cluster states with delay-dependent phase lags. These cluster states appear in addition to primary states with delay-independent phase lags observed near the Hopf bifurcation. Extending the theory on Hopf normal-form oscillators, we are able to account for realistic interaction functions, yielding good agreement with experimental findings.

Chaos in networks with time-delayed couplings

Networks of nonlinear units coupled by time-delayed signals can show chaos. In the limit of long delay times, chaos appears in two ways: strong and weak, depending on how the maximal Lyapunov exponent scales with the delay time. Only for weak chaos, a network can synchronize completely, without time shift. The conditions for strong and weak chaos and synchronization in networks with multiple delay times are investigated.

Chaos pass filter: linear response of synchronized chaotic systems

The linear response of synchronized time-delayed chaotic systems to small external perturbations, i.e., the phenomenon of chaos pass filter, is investigated for iterated maps. The distribution of distances, i.e., the deviations between two synchronized chaotic units due to external perturbations on the transferred signal, is used as a measure of the linear response. It is calculated numerically and, for some special cases, analytically. Depending on the model parameters this distribution has power law tails in the region of synchronization leading to diverging moments of distances. This is a consequence of multiplicative and additive noise in the corresponding linear equations due to chaos and external perturbations. The linear response can also be quantified by the bit error rate of a transmitted binary message which perturbs the synchronized system. The bit error rate is given by an integral over the distribution of distances and is calculated analytically and numerically. It displays a complex nonmonotonic behavior in the region of synchronization. For special cases the distribution of distances has a fractal structure leading to a devil's staircase for the bit error rate as a function of coupling strength. The response to small harmonic perturbations shows resonances related to coupling and feedback delay times. A bidirectionally coupled chain of three units can completely filter out the perturbation. Thus the second moment and the bit error rate become zero.

Experimental observations of group synchrony in a system of chaotic optoelectronic oscillators

We experimentally demonstrate group synchrony in a network of four nonlinear optoelectronic oscillators with time-delayed coupling. We divide the nodes into two groups of two each, by giving each group different parameters and by enabling only intergroup coupling. When coupled in this fashion, the two groups display different dynamics, with no isochronal synchrony between them, but the nodes in a single group are isochronally synchronized, even though there is no intragroup coupling. We compare experimental behavior with theoretical and numerical results.

Cluster and group synchronization in delay-coupled networks

We investigate the stability of synchronized states in delay-coupled networks where synchronization takes place in groups of different local dynamics or in cluster states in networks with identical local dynamics. Using a master stability approach, we find that the master stability function shows a discrete rotational symmetry depending on the number of groups. The coupling matrices that permit solutions on group or cluster synchronization manifolds show a very similar symmetry in their eigenvalue spectrum, which helps to simplify the evaluation of the master stability function. Our theory allows for the characterization of stability of different patterns of synchronized dynamics in networks with multiple delay times, multiple coupling functions, but also with multiple kinds of local dynamics in the networks' nodes. We illustrate our results by calculating stability in the example of delay-coupled semiconductor lasers and in a model for neuronal spiking dynamics.

Sensitivity of global network dynamics to local parameters versus motif structure in a cortexlike neuronal model

In the field of network dynamics it has been suggested that statistical information of motifs, small subnetworks, can help in understanding global activity of the entire network. We present a counterexample where the relation between the stable synchronized activity modes and network connectivity was studied using the Hodgkin-Huxley brain dynamics model. Simulations indicate that small motifs of three nodes exhibit different synchronization modes depending on their local parameters such as delays, synaptic strength, and external drives. Thus the activity of a complex network composed of interconnected motifs cannot be extracted from the activity mode of each individual motif and is governed by local parameters. Finally, we exemplify how local dynamics ultimately enriches the ability of a network to generate diverse modes with a given motif structure.

Synchronization in small networks of time-delay coupled chaotic diode lasers

Topologies of two, three and four time-delay-coupled chaotic semiconductor lasers are experimentally and theoretically found to show new types of synchronization. Generalized zero-lag synchronization is observed for two lasers separated by long distances even when their self-feedback delays are not equal. Generalized sub-lattice synchronization is observed for quadrilateral geometries while the equilateral triangle is zero-lag synchronized. Generalized zero-lag synchronization, without the limitation of precisely matched delays, opens possibilities for advanced multi-user communication protocols.

Synchronization of chaotic networks with time-delayed couplings: an analytic study

Networks of nonlinear units with time-delayed couplings can synchronize to a common chaotic trajectory. Although the delay time may be very large, the units can synchronize completely without time shift. For networks of coupled Bernoulli maps, analytic results are derived for the stability of the chaotic synchronization manifold. For a single delay time, chaos synchronization is related to the spectral gap of the coupling matrix. For networks with multiple delay times, analytic results are obtained from the theory of polynomials. Finally, the analytic results are compared with networks of iterated tent maps and Lang-Kobayashi equations, which imitate the behavior of networks of semiconductor lasers.

Role of delay for the symmetry in the dynamics of networks

The symmetry in a network of oscillators determines the spatiotemporal patterns of activity that can emerge. We study how a delay in the coupling affects symmetry-breaking and -restoring bifurcations. We are able to draw general conclusions in the limit of long delays. For one class of networks we derive a criterion that predicts that delays have a symmetrizing effect. Moreover, we demonstrate that for any network admitting a steady-state solution, a long delay can solely advance the first bifurcation point as compared to the instantaneous-coupling regime.

Periodic patterns in a ring of delay-coupled oscillators

We describe the appearance and stability of spatiotemporal periodic patterns (rotating waves) in unidirectional rings of coupled oscillators with delayed couplings. We show how delays in the coupling lead to the splitting of each rotating wave into several new ones. The appearance of rotating waves is mediated by the Hopf bifurcations of the symmetric equilibrium. We also conclude that the coupling delays can be effectively replaced by increasing the number of oscillators in the chain. The phenomena are shown for the Stuart-Landau oscillators as well as for the coupled FitzHugh-Nagumo systems modeling an ensemble of spiking neurons interacting via excitatory chemical synapses.

Synchronization of random bit generators based on coupled chaotic lasers and application to cryptography

Random bit generators (RBGs) constitute an important tool in cryptography, stochastic simulations and secure communications. The later in particular has some difficult requirements: high generation rate of unpredictable bit strings and secure key-exchange protocols over public channels. Deterministic algorithms generate pseudo-random number sequences at high rates, however, their unpredictability is limited by the very nature of their deterministic origin. Recently, physical RBGs based on chaotic semiconductor lasers were shown to exceed Gbit/s rates. Whether secure synchronization of two high rate physical RBGs is possible remains an open question. Here we propose a method, whereby two fast RBGs based on mutually coupled chaotic lasers, are synchronized. Using information theoretic analysis we demonstrate security against a powerful computational eavesdropper, capable of noiseless amplification, where all parameters are publicly known. The method is also extended to secure synchronization of a small network of three RBGs.

On chaos synchronization and secure communication

Chaos synchronization, in particular isochronal synchronization of two chaotic trajectories to each other, may be used to build a means of secure communication over a public channel. In this paper, we give an overview of coupling schemes of Bernoulli units deduced from chaotic laser systems, different ways to transmit information by chaos synchronization and the advantage of bidirectional over unidirectional coupling with respect to secure communication. We present the protocol for using dynamical private commutative filters for tap-proof transmission of information that maps the task of a passive attacker to the class of non-deterministic polynomial time-complete problems.

Pulses of chaos synchronization in coupled map chains with delayed transmission

Pulses of synchronization in chaotic coupled map lattices are discussed in the context of transmission of information. Synchronization and desynchronization propagate along the chain with different velocities which are calculated analytically from the spectrum of convective Lyapunov exponents. Since the front of synchronization travels slower than the front of desynchronization, the maximal possible chain length for which information can be transmitted by modulating the first unit of the chain is bounded.

Synchronization of networks of chaotic units with time-delayed couplings

A network of chaotic units is investigated where the units are coupled by signals with a transmission delay. Any arbitrary finite network is considered where the chaotic trajectories of the uncoupled units are a solution of the dynamic equations of the network. It is shown that chaotic trajectories cannot be synchronized if the transmission delay is larger than the time scales of the individual units. For several models the master stability function is calculated which determines the maximal delay time for which synchronization is possible.

Synchronization properties of network motifs: influence of coupling delay and symmetry

We investigate the effect of coupling delays on the synchronization properties of several network motifs. In particular, we analyze the synchronization patterns of unidirectionally coupled rings, bidirectionally coupled rings, and open chains of Kuramoto oscillators. Our approach includes an analytical and semianalytical study of the existence and stability of different in-phase and out-of-phase periodic solutions, complemented by numerical simulations. The delay is found to act differently on networks possessing different symmetries. While for the unidirectionally coupled ring the coupling delay is mainly observed to induce multistability, its effect on bidirectionally coupled rings is to enhance the most symmetric solution. We also study the influence of feedback and conclude that it also promotes the in-phase solution of the coupled oscillators. We finally discuss the relation between our theoretical results on delay-coupled Kuramoto oscillators and the synchronization properties of networks consisting of real-world delay-coupled oscillators, such as semiconductor laser arrays and neuronal circuits.

Public channel cryptography: chaos synchronization and Hilbert's tenth problem

The synchronization process of two mutually delayed coupled deterministic chaotic maps is demonstrated both analytically and numerically. The synchronization is preserved when the mutually transmitted signals are concealed by two commutative private filters, a convolution of the truncated time-delayed output signals or some powers of the delayed output signals. The task of a passive attacker is mapped onto Hilbert's tenth problem, solving a set of nonlinear Diophantine equations, which was proven to be in the class of NP-complete problems [problems that are both NP (verifiable in nondeterministic polynomial time) and NP-hard (any NP problem can be translated into this problem)]. This bridge between nonlinear dynamics and NP-complete problems opens a horizon for new types of secure public-channel protocols.

Patterns of chaos synchronization

Small networks of chaotic units which are coupled by their time-delayed variables are investigated. In spite of the time delay, the units can synchronize isochronally, i.e., without time shift. Moreover, networks cannot only synchronize completely, but can also split into different synchronized sublattices. These synchronization patterns are stable attractors of the network dynamics. Different networks with their associated behaviors and synchronization patterns are presented. In particular, we investigate sublattice synchronization, symmetry breaking, spreading chaotic motifs, synchronization by restoring symmetry, and cooperative pairwise synchronization of a bipartite tree.