Spontaneous synchronization of coupled oscillator systems with frequency adaptation

Computing with oscillators from theoretical underpinnings to applications and demonstrators

Networks of coupled oscillators have far-reaching implications across various fields, providing insights into a plethora of dynamics. This review offers an in-depth overview of computing with oscillators covering computational capability, synchronization occurrence and mathematical formalism. We discuss numerous circuit design implementations, technology choices and applications from pattern retrieval, combinatorial optimization problems to machine learning algorithms. We also outline perspectives to broaden the applications and mathematical understanding of coupled oscillator dynamics.

Emergent order in adaptively rewired networks

We explore adaptive link change strategies that can lead a system to network configurations that yield ordered dynamical states. We propose two adaptive strategies based on feedback from the global synchronization error. In the first strategy, the connectivity matrix changes if the instantaneous synchronization error is larger than a prescribed threshold. In the second strategy, the probability of a link changing at any instant of time is proportional to the magnitude of the instantaneous synchronization error. We demonstrate that both these strategies are capable of guiding networks to chaos suppression within a prescribed tolerance, in two prototypical systems of coupled chaotic maps. So, the adaptation works effectively as an efficient search in the vast space of connectivities for a configuration that serves to yield a targeted pattern. The mean synchronization error shows the presence of a sharply defined transition to very low values after a critical coupling strength, in all cases. For the first strategy, the total time during which a network undergoes link adaptation also exhibits a distinct transition to a small value under increasing coupling strength. Analogously, for the second strategy, the mean fraction of links that change in the network over time, after transience, drops to nearly zero, after a critical coupling strength, implying that the network reaches a static link configuration that yields the desired dynamics. These ideas can then potentially help us to devise control methods for extended interactive systems, as well as suggest natural mechanisms capable of regularizing complex networks.

Hebbian and anti-Hebbian adaptation-induced dynamical states in adaptive networks

We investigate the interplay of an external forcing and an adaptive network, whose connection weights coevolve with the dynamical states of the phase oscillators. In particular, we consider the Hebbian and anti-Hebbian adaptation mechanisms for the evolution of the connection weights. The Hebbian adaptation manifests several interesting partially synchronized states, such as phase and frequency clusters, bump state, bump frequency phase clusters, and forced entrained clusters, in addition to the completely synchronized and forced entrained states. Anti-Hebbian adaptation facilitates the manifestation of the itinerant chimera characterized by randomly evolving coherent and incoherent domains along with some of the aforementioned dynamical states induced by the Hebbian adaptation. We introduce three distinct measures for the strength of incoherence based on the local standard deviations of the time-averaged frequency and the instantaneous phase of each oscillator, and the time-averaged mean frequency for each bin to corroborate the distinct dynamical states and to demarcate the two parameter phase diagrams. We also arrive at the existence and stability conditions for the forced entrained state using the linear stability analysis, which is found to be consistent with the simulation results.

Perspectives on adaptive dynamical systems

Adaptivity is a dynamical feature that is omnipresent in nature, socio-economics, and technology. For example, adaptive couplings appear in various real-world systems, such as the power grid, social, and neural networks, and they form the backbone of closed-loop control strategies and machine learning algorithms. In this article, we provide an interdisciplinary perspective on adaptive systems. We reflect on the notion and terminology of adaptivity in different disciplines and discuss which role adaptivity plays for various fields. We highlight common open challenges and give perspectives on future research directions, looking to inspire interdisciplinary approaches.

Route to synchronization in coupled phase oscillators with frequency-dependent coupling: Explosive or continuous?

Interconnected dynamical systems often transition between states of incoherence and synchronization due to changes in system parameters. These transitions could be continuous (gradual) or explosive (sudden) and may result in failures, which makes determining their nature important. In this study, we abstract dynamical networks as an ensemble of globally coupled Kuramoto-like phase oscillators with frequency-dependent coupling and investigate the mechanisms for transition between incoherent and synchronized dynamics. The characteristics that dictate a continuous or explosive route to synchronization are the distribution of the natural frequencies of the oscillators, quantified by a probability density function g(ω), and the relation between the coupling strength and natural frequency of an oscillator, defined by a frequency-coupling strength correlation function f(ω). Our main results are conditions on f(ω) and g(ω) that result in continuous or explosive routes to synchronization and explain the underlying physics. The analytical developments are validated through numerical examples.

Collective Activity Bursting in a Population of Excitable Units Adaptively Coupled to a Pool of Resources

We study the collective dynamics in a population of excitable units (neurons) adaptively interacting with a pool of resources. The resource pool is influenced by the average activity of the population, whereas the feedback from the resources to the population is comprised of components acting homogeneously or inhomogeneously on individual units of the population. Moreover, the resource pool dynamics is assumed to be slow and has an oscillatory degree of freedom. We show that the feedback loop between the population and the resources can give rise to collective activity bursting in the population. To explain the mechanisms behind this emergent phenomenon, we combine the Ott-Antonsen reduction for the collective dynamics of the population and singular perturbation theory to obtain a reduced system describing the interaction between the population mean field and the resources.

Stability analysis of intralayer synchronization in time-varying multilayer networks with generic coupling functions

The stability analysis of synchronization patterns on generalized network structures is of immense importance nowadays. In this article, we scrutinize the stability of intralayer synchronous state in temporal multilayer hypernetworks, where each dynamic units in a layer communicate with others through various independent time-varying connection mechanisms. Here, dynamical units within and between layers may be interconnected through arbitrary generic coupling functions. We show that intralayer synchronous state exists as an invariant solution. Using fast-switching stability criteria, we derive the condition for stable coherent state in terms of associated time-averaged network structure, and in some instances we are able to separate the transverse subspace optimally. Using simultaneous block diagonalization of coupling matrices, we derive the synchronization stability condition without considering time-averaged network structure. Finally, we verify our analytically derived results through a series of numerical simulations on synthetic and real-world neuronal networked systems.

Synchronization of coupled Kuramoto oscillators under resource constraints

A fundamental understanding of synchronized behavior in multiagent systems can be acquired by studying analytically tractable Kuramoto models. However, such models typically diverge from many real systems whose dynamics evolve under nonnegligible resource constraints. Here we construct a system of coupled Kuramoto oscillators that consume or produce resources as a function of their oscillation frequency. At high coupling, we observe strongly synchronized dynamics, whereas at low coupling, we observe independent oscillator dynamics as expected from standard Kuramoto models. For intermediate coupling, which typically induces a partially synchronized state, we empirically observe that (and theoretically explain why) the system can exist in either: (i) a state in which the order parameter oscillates in time, or (ii) a state in which multiple synchronization states are simultaneously stable. Whether (i) or (ii) occurs depends upon whether the oscillators consume or produce resources, respectively. Relevant for systems as varied as coupled neurons and social groups, our paper lays important groundwork for future efforts to develop quantitative predictions of synchronized dynamics for systems embedded in environments marked by sparse resources.

Generalized splay states in phase oscillator networks

Networks of coupled phase oscillators play an important role in the analysis of emergent collective phenomena. In this article, we introduce generalized m-splay states constituting a special subclass of phase-locked states with vanishing mth order parameter. Such states typically manifest incoherent dynamics, and they often create high-dimensional families of solutions (splay manifolds). For a general class of phase oscillator networks, we provide explicit linear stability conditions for splay states and exemplify our results with the well-known Kuramoto-Sakaguchi model. Importantly, our stability conditions are expressed in terms of just a few observables such as the order parameter or the trace of the Jacobian. As a result, these conditions are simple and applicable to networks of arbitrary size. We generalize our findings to phase oscillators with inertia and adaptively coupled phase oscillator models.

What adaptive neuronal networks teach us about power grids

Power grid networks, as well as neuronal networks with synaptic plasticity, describe real-world systems of tremendous importance for our daily life. The investigation of these seemingly unrelated types of dynamical networks has attracted increasing attention over the past decade. In this paper, we provide insight into the fundamental relation between these two types of networks. For this, we consider well-established models based on phase oscillators and show their intimate relation. In particular, we prove that phase oscillator models with inertia can be viewed as a particular class of adaptive networks. This relation holds even for more general classes of power grid models that include voltage dynamics. As an immediate consequence of this relation, we discover a plethora of multicluster states for phase oscillators with inertia. Moreover, the phenomenon of cascading line failure in power grids is translated into an adaptive neuronal network.

Synchronization of complex human networks

The synchronization of human networks is essential for our civilization and understanding its dynamics is important to many aspects of our lives. Human ensembles were investigated, but in noisy environments and with limited control over the network parameters which govern the network dynamics. Specifically, research has focused predominantly on all-to-all coupling, whereas current social networks and human interactions are often based on complex coupling configurations. Here, we study the synchronization between violin players in complex networks with full and accurate control over the network connectivity, coupling strength, and delay. We show that the players can tune their playing period and delete connections by ignoring frustrating signals, to find a stable solution. These additional degrees of freedom enable new strategies and yield better solutions than are possible within current models such as the Kuramoto model. Our results may influence numerous fields, including traffic management, epidemic control, and stock market dynamics.

Introduction to Focus Issue: Symmetry and optimization in the synchronization and collective behavior of complex systems

Synchronization phenomena and collective behavior are commonplace in complex systems with applications ranging from biological processes such as coordinated neuron firings and cell cycles to the stability of alternating current power grids. A fundamental pursuit is the study of how various types of symmetry-e.g., as manifest in network structure or coupling dynamics-impact a system's collective behavior. Understanding the intricate relations between structural and dynamical symmetry/asymmetry also provides new paths to develop strategies that enhance or inhibit synchronization. Previous research has revealed symmetry as a key factor in identifying optimization mechanisms, but the particular ways that symmetry/asymmetry influence collective behavior can generally depend on the type of dynamics, networks, and form of synchronization (e.g., phase synchronization, group synchronization, and chimera states). Other factors, such as time delay, noise, time-varying structure, multilayer connections, basin stability, and transient dynamics, also play important roles, and many of these remain underexplored. This Focus Issue brings together a survey of theoretical and applied research articles that push forward this important line of questioning.

Reduction of oscillator dynamics on complex networks to dynamics on complete graphs through virtual frequencies

We consider the synchronization of oscillators in complex networks where there is an interplay between the oscillator dynamics and the network topology. Through a remarkable transformation in parameter space and the introduction of virtual frequencies we show that Kuramoto oscillators on annealed networks, with or without frequency-degree correlation, and Kuramoto oscillators on complete graphs with frequency-weighted coupling can be transformed to Kuramoto oscillators on complete graphs with a rearranged, virtual frequency distribution and uniform coupling. The virtual frequency distribution encodes both the natural frequency distribution (dynamics) and the degree distribution (topology). We apply this transformation to give direct explanations to a variety of phenomena that have been observed in complex networks, such as explosive synchronization and vanishing synchronization onset.

Frequency and phase synchronization in large groups: Low dimensional description of synchronized clapping, firefly flashing, and cricket chirping

A common observation is that large groups of oscillatory biological units often have the ability to synchronize. A paradigmatic model of such behavior is provided by the Kuramoto model, which achieves synchronization through coupling of the phase dynamics of individual oscillators, while each oscillator maintains a different constant inherent natural frequency. Here we consider the biologically likely possibility that the oscillatory units may be capable of enhancing their synchronization ability by adaptive frequency dynamics. We propose a simple augmentation of the Kuramoto model which does this. We also show that, by the use of a previously developed technique [Ott and Antonsen, Chaos 18, 037113 (2008)], it is possible to reduce the resulting dynamics to a lower dimensional system for the macroscopic evolution of the oscillator ensemble. By employing this reduction, we investigate the dynamics of our system, finding a characteristic hysteretic behavior and enhancement of the quality of the achieved synchronization.

SYNCHRONIZATION OF HETEROGENEOUS OSCILLATORS UNDER NETWORK MODIFICATIONS: PERTURBATION AND OPTIMIZATION OF THE SYNCHRONY ALIGNMENT FUNCTION

Synchronization is central to many complex systems in engineering physics (e.g., the power-grid, Josephson junction circuits, and electro-chemical oscillators) and biology (e.g., neuronal, circadian, and cardiac rhythms). Despite these widespread applications-for which proper functionality depends sensitively on the extent of synchronization-there remains a lack of understanding for how systems can best evolve and adapt to enhance or inhibit synchronization. We study how network modifications affect the synchronization properties of network-coupled dynamical systems that have heterogeneous node dynamics (e.g., phase oscillators with non-identical frequencies), which is often the case for real-world systems. Our approach relies on a synchrony alignment function (SAF) that quantifies the interplay between heterogeneity of the network and of the oscillators and provides an objective measure for a system's ability to synchronize. We conduct a spectral perturbation analysis of the SAF for structural network modifications including the addition and removal of edges, which subsequently ranks the edges according to their importance to synchronization. Based on this analysis, we develop gradient-descent algorithms to efficiently solve optimization problems that aim to maximize phase synchronization via network modifications. We support these and other results with numerical experiments.

Dynamics of phase slips in systems with time-periodic modulation

The Adler equation with time-periodic frequency modulation is studied. A series of resonances between the period of the frequency modulation and the time scale for the generation of a phase slip is identified. The resulting parameter space structure is determined using a combination of numerical continuation, time simulations, and asymptotic methods. Regions with an integer number of phase slips per period are separated by regions with noninteger numbers of phase slips and include canard trajectories that drift along unstable equilibria. Both high- and low-frequency modulation is considered. An adiabatic description of the low-frequency modulation regime is found to be accurate over a large range of modulation periods.

Experimental study of the irrational phase synchronization of coupled nonidentical mechanical metronomes

It has recently been observed in numerical simulations that the phases of two coupled nonlinear oscillators can become locked into an irrational ratio, exhibiting the phenomenon of irrational phase synchronization (IPS) [Phys. Rev. E 69, 056228 (2004)]. Here, using two coupled nonidentical periodic mechanical metronomes, we revisit this interesting phenomenon through experimental studies. It is demonstrated that under suitable couplings, the phases of the metronomes indeed can become locked into irrational ratios. Numerical simulations confirm the experimental observations and also reveal that in the IPS state, the system dynamics are chaotic. Our studies provide a solid step toward further studies of IPS.

Dynamics in hybrid complex systems of switches and oscillators

While considerable progress has been made in the analysis of large systems containing a single type of coupled dynamical component (e.g., coupled oscillators or coupled switches), systems containing diverse components (e.g., both oscillators and switches) have received much less attention. We analyze large, hybrid systems of interconnected Kuramoto oscillators and Hopfield switches with positive feedback. In this system, oscillator synchronization promotes switches to turn on. In turn, when switches turn on, they enhance the synchrony of the oscillators to which they are coupled. Depending on the choice of parameters, we find theoretically coexisting stable solutions with either (i) incoherent oscillators and all switches permanently off, (ii) synchronized oscillators and all switches permanently on, or (iii) synchronized oscillators and switches that periodically alternate between the on and off states. Numerical experiments confirm these predictions. We discuss how transitions between these steady state solutions can be onset deterministically through dynamic bifurcations or spontaneously due to finite-size fluctuations.

Stationary and traveling wave states of the Kuramoto model with an arbitrary distribution of frequencies and coupling strengths

We consider the Kuramoto model of an ensemble of interacting oscillators allowing for an arbitrary distribution of frequencies and coupling strengths. We define a family of traveling wave states as stationary in a rotating frame, and derive general equations for their parameters. We suggest empirical stability conditions which, for the case of incoherence, become exact. In addition to making new theoretical predictions, we show that many earlier results follow naturally from our general framework. The results are applicable in scientific contexts ranging from physics to biology.

Kuramoto model with time-varying parameters

We analyze the Kuramoto model generalized by explicit consideration of deterministically time-varying parameters. The oscillators' natural frequencies and/or couplings are influenced by external forces with constant or distributed strengths. A dynamics of the collective rhythms is observed, consisting of the external system superimposed on the autonomous one, a characteristic feature of many thermodynamically open systems. This deterministic, stable, continuously time-dependent, collective behavior is fully described, and the external impact to the original system is defined in both the adiabatic and the nonadiabatic limits.

Fully synchronous solutions and the synchronization phase transition for the finite-N Kuramoto model

We present a detailed analysis of the stability of phase-locked solutions to the Kuramoto system of oscillators. We derive an analytical expression counting the dimension of the unstable manifold associated to a given stationary solution. From this we are able to derive a number of consequences, including analytic expressions for the first and last frequency vectors to phase-lock, upper and lower bounds on the probability that a randomly chosen frequency vector will phase-lock, and very sharp results on the large N limit of this model. One of the surprises in this calculation is that for frequencies that are Gaussian distributed, the correct scaling for full synchrony is not the one commonly studied in the literature; rather, there is a logarithmic correction to the scaling which is related to the extremal value statistics of the random frequency vector.

Anti-phase synchronization of two coupled mechanical metronomes

This paper mainly investigates the anti-phase synchronization of two coupled mechanical metronomes not only by means of numerical simulations, but also by experimental tests. It is found that the attractor basin of anti-phase synchronization enlarges as the rolling friction increases. Furthermore, this paper studies the relationship between different initial conditions and synchronization types. The impacts of rolling friction on in-phase and anti-phase synchronization times are also discovered. Finally, in-phase and anti-phase synchronization conditions of non-identical metronomes are discussed. These results indicate the potential complexity of the dynamics of coupled metronomes.

Quantifying the dynamics of coupled networks of switches and oscillators

Complex network dynamics have been analyzed with models of systems of coupled switches or systems of coupled oscillators. However, many complex systems are composed of components with diverse dynamics whose interactions drive the system's evolution. We, therefore, introduce a new modeling framework that describes the dynamics of networks composed of both oscillators and switches. Both oscillator synchronization and switch stability are preserved in these heterogeneous, coupled networks. Furthermore, this model recapitulates the qualitative dynamics for the yeast cell cycle consistent with the hypothesized dynamics resulting from decomposition of the regulatory network into dynamic motifs. Introducing feedback into the cell-cycle network induces qualitative dynamics analogous to limitless replicative potential that is a hallmark of cancer. As a result, the proposed model of switch and oscillator coupling provides the ability to incorporate mechanisms that underlie the synchronized stimulus response ubiquitous in biochemical systems.