Professional Documents
Culture Documents
Abstract—When implemented in the digital domain with time, degraded chaotic map generates a short-period pseudo-random
space and value discretized in the binary form, many good number sequence with a non-negligible probability [4]–[6].
dynamical properties of chaotic systems in continuous domain Despite the theoretic elegancy of the shadowing lemma, it
may be degraded or even diminish. To measure the dynamic
complexity of a digital chaotic system, the dynamics can be becomes rather misleading when one looks at the system as
transformed to the form of a state-mapping network. Then, the a whole: all shadowing orbits expressed in a particular finite
parameters of the network are verified by some typical dynamical precision constitute only a negligible part of the whole set
metrics of the original chaotic system in infinite precision, such of true orbits. This is not surprising because the states that a
as Lyapunov exponent and entropy. This article reviews some pseudo-orbit can visit are countable, but in continuous domain
representative works on the network-based analysis of digital
chaotic dynamics and presents a general framework for such they are not. Even worse is that, in a finite-state space, all
analysis, unveiling some intrinsic relationships between digital pseudo-orbits will eventually become periodic and the period
chaos and complex networks. As an example for discussion, the is bounded by the number of the states therein. Thus, to what
dynamics of a state-mapping network of the Logistic map in a extent the finite-precision orbits can still retain the dynamical
fixed-precision computer is analyzed and discussed. properties of the original chaotic system calls for quantitative
Index Terms—arithmetic domain, chaotic cryptography,
chaotic dynamics, Logistic map, state-mapping network.
analysis of the set of pseudo-orbits. This turns out to be
a rather complicated problem and cannot be easily handled
by existing theories and techniques. In fact, most existing
I. I NTRODUCTION work focus on the average behaviors of all pseudo-orbits,
Haos is typically defined in the continuous domain, for but still cannot tell anything more about the pseudo-orbits
C which many interesting dynamical properties hold only
in infinite precision. Yet, implementing a chaotic map in a
within different fine structures. In [7], some fine structures
in such pseudo-orbits implemented with fixed-point arithmetic
finite-precision device is an inevitable process for any of its are revealed and discussed.
real applications or for any simulation in the digital world. Recently, complex networks as an emerging research field
Therefore, the dynamical properties of a digitized chaotic can provide useful tools for studying the dynamics of chaotic
map have been the main concern in nonlinear science and time series, first attempted in [8]. Essentially, some earlier
chaotic cryptography. When iterating a chaotic map in the work studying the dynamics of digital chaos can be attributed
digital domain, its orbit is perturbed by the quantization to the notion of complex networks [9]. Specifically, in 1986
errors. Consequently, not a real-valued chaotic orbit but only Binder and Jensen built a state-mapping network (SMN) of
a discretized pseudo-orbit is obtained. Such pseudo-orbits are the Logistic map and reported that the counterparts of some
considered useful due to the well-known shadowing lemma, metrics on measuring the dynamics of continuous chaos, such
which says that every pseudo-orbit obtained via computer as Lyapunov exponent, remain to work as usual [10]. In
simulation has a true error-free orbit nearby. The shadow- the following years, Binder reported some more work and
ing lemma justifies the use of computers to study chaotic findings: the relationship between a limit cycle of the Logistic
systems and their dynamics. As a consequence, many efforts map and its control parameter [11]. Binder and Okamoto
were devoted to designing pseudo-random number generators studied the shadowing of unstable periodic orbits (UPO) with
utilizing chaotic maps [1]. Nevertheless, it was argued [2], the corresponding limit cycles [12]. In [13], Hsu investigated
[3] that the dynamics of digital chaotic maps are degraded the global properties of nonlinear dynamical systems by cell-
to various extents and such dynamical degradation can create to-cell mapping. Kurths and his team presented an analytical
big problems to some applications, for example thwarting framework for recurrence network analysis of time series [14],
the security of the chaos-based cryptosystems as iterating a and then further studied the geometry of chaotic dynamics
from the perspective of complex networks [15]. In [16],
This work was supported by the National Natural Science Foundation of Frahm and Shepelyansky analyzed the small-world properties
China (nos. 61772447, 61532020). of Ulam’s networks of the Chirikov standard map and the
Arnold cat map, showing that the number of degrees of Figure 2 depicts the largest in-degree of the corresponding
separation grows logarithmically with the network size. In space network under different control parameters with five
[17], Shreim et al. studied the dynamics of series generated network sizes. From Fig. 2, one can see that the largest in-
by cellular automata, using the parameters of the associate degree obviously follows a power-law distribution with the
state-mapping network. The properties of Chebyshev map on same scaling exponent for N ∈ {2000, 10000}. In contract,
a finite field was investigated with a directed network (graph) there are two scaling exponents for N ∈ {1000, 5000}. This
by Gassert [18]. Recently, the functional graph associated with may be caused by the non-uniform distributions of the floating-
the iterations of the Chebyshev polynomials over a finite field point numbers in different sub-spaces.
was quantitatively analyzed by Qureshi and Panario [19]. It Figure 3 presents the average path length of the space
should be noted, however, that networks typically exhibit self- network of the Logistic map under different control parameters
organizing fractals (and multifractals) and chaos by themselves with five network sizes. Observing Fig. 3, one can see that the
when they are sufficiently large and complex [20]. changing trend of the average path length with respect to the
This paper reviews the existing complex-network-based control parameter matches that of the Lyapunov exponents of
dynamic analysis of digital chaotic systems, using the Logistic the Logistic map to a relatively high extent, demonstrating that
map as a typical example. A general framework for analysis the parameters of the phase network can serve as an alterna-
is presented. Furthermore, it discusses how the structure of tive measure for detecting the ‘edge of chaos’ in dynamical
the SMN of the Logistic map is changed with the fixed-point systems.
arithmetic precision on a computer. Some fractal phenomena
and power-law in-degree distributions are observed when the
precision is incrementally increased.
103
The rest of the paper is organized as follows. Section II
briefly reviews the existing dynamic analysis of digital chaotic
systems from the general viewpoint of complex networks.
102
Some special properties of the SMN of the Logistic map are
reported in Sec. III. The last section concludes the paper.
Following Ulam’s method proposed in [21, p. 74], the state- Fig. 2. The largest in-degree kmax of the space network of the Logistic map
mapping network of the Logistic map in five network sizes.
f (x) = µ · x · (1 − x) (1)
50
N = 2048
N = 1024
was built by the following three steps in [22], [23]: 1) divide 40 N = 512
N = 256
the phase interval into some subintervals; 2) each subinterval N = 128
30 Lyapunov exponents
is considered as a node; 3) two nodes are linked by a
directed edge if a (predefined) map relationship between the
davg
20
4
Now, consider the following state-mapping network of the
10
Logistic map
Logistic map: every value in the n-bit arithmetic computing
Henon map
Ikeda map
precision is identified as a node; a directed edge between nodes
Cat map
Tinkerbell map
u and v exists if and only if the former node is mapped to the
3
10 Standard map
Duffing map
latter one by the Logistic map. The following key parameters
Tent map
of the space network were studied, revealing the relationships
among the Logistic map (1), the computing precision and the
10
2
A B C F D E
control parameter.
• Loop: (also called a self-loop) is an edge that connects a
Fig. 5. Subgraph ranks of different types of time series, where A, B, C, D,
E, and F represent 6 different possible undirected subgraphs of size 4. node to itself.
• A directed cycle in a directed graph is a sequence of
nodes, starting and ending at the same node such that,
0
Rule 4 Rule 22 Rule 110 Rule 184 for each pair of two consecutive nodes in the cycle, there
-0.1
-0.2
L=15
L=20
exists an edge directed from the previous node to the later
-0.3
L=25 one.
A weakly connected component (WCC) is a maximal
logP (k)/logN
-0.4 •
-0.5 subgraph of a directed graph such that there is a path
-0.6
between every pair of nodes u and v in the subgraph,
-0.7
regardless of the direction of edges.
-0.8
x 1−x 1 − (1 − x) f (x) f (1 − x)
0.0099945068359375 0.98974609375 0.01025390625 0.037384033203125 0.038360595703125
0.04998779296875 0.94970703125 0.05029296875 0.179443359375 0.1805419921875
0.0899658203125 0.90966796875 0.09033203125 0.309326171875 0.310546875
0.0999755859375 0.89990234375 0.10009765625 0.340087890625 0.340576171875
0.199951171875 0.7998046875 0.2001953125 0.6044921875 0.60498046875
0.289794921875 0.7099609375 0.2900390625 0.77783203125 0.7783203125
0.389892578125 0.60986328125 0.39013671875 0.89892578125 0.8994140625
0.489990234375 0.509765625 0.490234375 0.9443359375 0.94482421875
0
37 22 42 12 19
10
5 18 15 12 20 3 38
3 56 39
61 52
29
31 26 60
11 11 27 −1
16 14
28 53
2
25
15
45 10
17 35
27 9 36 8
10 49
4 21 4
62 9
30 1
33 −2
10
17
10 55 63
22 25 31 47
1 7 54
28
2 34 29 21
43 48
32
0 30 23 58
26 20 44 50 16 −3
14 6
10
19 46 51 18 5 41 23
32 6 13 8 24 57
13 40 59 24 7 64 0
−4
10
a) b)
−5
10
121
Fig. 7. The state network of the Logistic map with µ = 25
under round
quantization: a) 5-bit precision; b) 6-bit precision. 10
−6
0 1 2 3
10 10 10 10
k +1
2 126
27 31 77
45
83
92 97 78
8 120
51 Fig. 10. In-degree distribution of the sate networks of F5 ∼ F20 .
95 9
114 101 50
35
119 29
32
33 93
49 36 96 99
118 10 34 94 88
14 23
17
79
98
84
1
127
111
107
40
74
105
weakly connected components;
90 44 58 21
25 30
104
113
4
124
69
22
122
54
48
• Each weakly connected component has one and only one
103 24 71 6
91 37
38
76 52
15
57 59
70 106 117 80 self-loop or cycle;
75 89
39
53
121
20
68
11
3
61
• In each cycle of length longer than 2, there is at least one
82
7 26
47
108
66
67
125
62
64
node with a large in-degree;
Let (Dn /2n ) denote the node with the largest degree in
115 81 12
86 18
102
116
60 63
65
41
•
46 0 110 109
28 43 42 73
55
56
123 72
19
1132
2964
3040
3097
1240
284
1793
2303
1600
2496
744
1794 2918
3812
2302 3687
409 1178
2304
3173
491
1510
382 547
2704
2786 3549
727
2262 923
3605
1634
3475
3714
3156
812 621 171
1992 3925
940
1835
2462 1357
2739 620
2703
1250
3284 665
3431
3476
1990
994
2846 2106
1393
3102 3174
2961 922
2702
1135
88 1716
326 3879
3477 1394
1715
2381 217
619
2380
3319
2822
3433
1274
2101
3869
663
666
2107
2109
2740
3430
2103
1356
397
1994
2521 3699
2481
1574 1615 1991
3665
2522
431
1358
3204
1988
1575
1458
3432 2104 4035
2638
892 2738
3551
208
664 227
61
than half of the size of the whole network. Among all the
1787 184 3912
622 811
1993
3809
2309 2102
2108 2105
1786
3474
1295 3285
3349
1391
2801 1009
3087
1126
971
3125
2875
1221
3241
3993
1542
853
125 1555 103
2558 855 2541
3971
460 380
2554 3636
458 3648
792 1530
3243 1544 122
140 3308
1545 3304
788 2517
1509
448
2416 427
1538 875 3624
3638 507 349 2406 2566 3716
3956
511 492
852 464 3669 3974 2792
2551 3632 1579
2650 3010
1208 2358
2552 3747 1690
1446 1304
1680
2602 192
3249 1207 1086
1490 3754 1737
3221 2760
877 1691 313
3589 472
129 1159
1556 342 3537 1637 735 3018
2873 3244 2937 3783
2911 559 3361
3585 2405 3904
2540 912 692 2359
2888 3604
3404
3142 1330 1093
1494 2606 1336
3649 847 3967 1825 2281
1415 270
1185 1097 2280 3003
443 1738
1223 3184 1059 21
2175 1824 2766 1078
594
22 96 2681
1557 1329 3030
3219 3396 3822
354 2539 3653
4013 3037 3826 1107
3502 954
1815 2393 1292
3742 4075
3301 2969 2767 3050 1046
700 79
1127 731
2535 701 1070 4017
2176 2999
83 2423 1920 2272 1703 752
2271 3395 2195 1041 2982 1066
1561 1816
4000
4074 307 244 274 2945 3762
3089 3055 3344 293
1673 2989
3022
447 965
1922 2197 2194 2804
795 2321
1100 2936
3365 3067
1506 1007 1774
1543 967 1114
763 2789 1900 3026
3129 1151 1160
1054 2872
1074 3857
2996 2587
1919 868 334
1749 2590
87 3803 1029
1284 3144
3042 2553 1307
239
3131
3601 3637 1636
1302 1152
2348 1136 541
3333 2960 2974 3245 1224 459 1775 2322
1049
3789 381
322 3852 2793 2763 952
925 2347 495 4009 1901
2889 851 1541
2944
1388 3104 1646 3047 3715 2461 4041 193
992 2794 3358 738 1 3903 2913
2812
1480 1635 1303
3080
1921 55 3555
2951 2196
1748 2616 1122 1462 1183
2708 3400
2288 1624 2762 695
2843 3635 2555 205
1333
2174
3470 1145 4092 2177 2549 2460 3360
3437 531 3574 586
3171 1253 277 4095 4
626 659 693 3228 2601 2634
152 1808 3181
2736 3119
4096 0 3565 2185
1037 1723
3913 1899 3706 3401 3206
4047 2625 3289 15 1547 2675
2005 2091 3819 143 2182
915
909 736 696
1168 1360 3403
1902 1013
2098 1722 2883 3891 2472 1334
977 461 890
553 3509 1233
3590 2687
3435 2095 522
1471 1809 2373 1213 1495
2928 2287 4081
183 3774
661 2092 3944
2813 1283 1335 2674
2184
57 2761 3145 3510 2863 3855
3059 3157 13 3745 1677
587 1409
390
49 2089 1421 3083
3259
1517 939 3953
2096 3495
3543 3640 3187 351 106
3332 1914
2006 2374
108 506 2283 837
1451 213 2844 951
484 2737 2447 95 4045
4039 1016 1252 2419
3988 3880 3990
2518 1911 601
4083 2002
3612 774 456 114 1422 1912 51
4001 591
2645 1939
3322
2579 78 1783
398 764 289 3287 419
1614 3725
1999 373 3201 1532 2183 1913 241 190
997 1276
3883 3668
216 1649 1782 3677 1578
1244 895 3505
2820 858
1996 2564 2878
3807 3982 3821
1133 4018 2455 2159
2450 58 809 685
2852 226 2814 371 2508 1449
3723
3906
2350
3099 4012 4038 3626 1588
2314 2156
3275 2284 3861
84 2313 3719 1814 2157
428
766 3236 3541 1531
3347 1219
1282 1294
470
750 884 43
2306
1096
3547 1884
2641
2100
2200
3851
3140 1014 2199
2771 2213 3082
2669
707
4022 1798
549 3394
1898
2885 1211
3158 2198
9
3991
1790 275 3516
2212 1897
291 745 970 3814 1427
2298 3389 3847
3225
485 1618 2299 1883
74 28
1516 4062 2735
2479 34 938 871
4087 387
386
2992 1797 105 245
865 2774 1227
3436 1325 580
1617 127 2093
3701
3611
1215 4020
2869
969 2580 1629 1322 993
1104
4068
1124 711
3049
3969 1361 3385 3250
3710 282
3231 2478
465 660
1196 2468 3709
2799 2593
1299 846
3031
2797 3084 2559 2222 2947 2845
3127 2221 1885
2881 2978 76 2538
3277 1118
819 2467 3126
252 1065
2972 1559
3354 3631 1047
1873 3103 1628 160
581
1245 4050 489 2980
3515
1012 2851 624 3650
742 288 3651 3844 1149
1558
3735 1537 894
1454 2297 577
1500 1390 2000 3074 3607
722 261 2670
1663 172 3936 1426 3070
361 3595 2537 363 1503
1997 2542
1874 1875
2311 46 1116
2247 623
1785 3189 2908
3472 1512
2433 445 1848 378 2584 446
3546 1799 2223 867
3815 1508 3647
2959 2588 907
281 2249 924
501 2596 1430 3519
2456
2642 1800 3808 3374 3473
1639 1026
2637 3924
3835
3603 1188
3959 449 1554
748 2706 3229
2296 1849 3598
990 1137 2312
3106 1784 137
3552 3529 2666
550
1847
343
3753
2248 2407
151 3997 493
905 1640
2839
3348 1459
544 3191
3945
567 2907 498
1225 1689
810
365
1654
3294 1257 99 156
1177 2871 1189
3940
3172 2840
2003 3247
2439 3731
2594 849
3729
625
3064 3293
2919
802 1657 3471 2545 1453 2442 2441
3597
1256
551
1655
2707
1032 1389 3356
1502 3644
499 294 1551 803
2494
206
1521 2293
408 740
452
1601 3688 3616
111 367
1602
1263
3890
3985 2575
2957
2495
1804
3109
4061
870 1805 1139
131 3303
3226
2833
3965
2291
2591
2292
540 35 987
2418
1772 2842
806 1505
3600 793
1463
2323 1679
3746
1773 364
3556
3802 3290
2448 1648 2417
1254
1678
1658 496
2633 3724
2324
4069
1647
3732
2437 1659 2449
27
101
210
1210
753
2438
350
372
3224
3886 3995
3343 2886
1279
2595
3596 872
279
1660
3117 1501
500
3326 2817
1642
3952 3295
4080
979 1650
144
1477 1291 805 370
883 3720
2805
2384 328 2955 16
525 778
1712 60
2364 3726
2454 2446
1203 2619 3881
3571 376 1255 1273
1733 1141
3768 3113
3213 770 3291
1731 3780
2383 224
2366 3994
102
1713
4036
3779 3318
2893 1103 215
1732 2363 2841
134
1018 3123
3606 2993
1982 3024
2115 1106
2112 1511
668 1142
1631
1986 3282 3114
2114
3911 228 1810
1983 2990 2286
1072
3053
1980 3045
1147
2466 3711 2954
1630 3820
814
667 737 330
1355 2285
2940 1043
2646
3766
2465 1811 81 1051 1271
3542 2387
3429 2111
300
941
1981 3359
385 3137
1156 1709
2741
554
1048
1985 1450
1212
4015
2777 1761
2334
1319 299
3868
3155 2110 959 2865
2884
3797
1167 3227 3796
2113 1231
2335
1395
410 1354 2062
158 1644 494 135
669 375 781
1979 574
2497 808
3288
1599 170
2574
2700
3617
479
2061
1522
1706
2059
2058
1865
2230
1866
3841
2231 332
3522 1432
2942
904
2664
2056
962
2054
1633
3713
2463
1313
255 2053
2051
383
104
20492048
1262
3992
2834
2046
3302 3895
3345
3192 222
723
2421
2420
1777 794
1190 2319 54 201
2906 751
3744
1418
65 1217
1910
3085
2189 4031
2186
589 242
2879
3235
2677
1908
1011
1907
3507
3854
418
861
1320
1419 1528 2041
474
566
1909
713 2040
1439
1803
2404 2030
2995
1251
1692 3733
2027
3755
983
2025 29
2436
234
798
3298 341 2825
1182
3987
834 801
109
2430
3315 4067
2486
3682 1154
2726 3161
3445
2597
1407 3134
2728
2502
873 934
961
3832 935
3373 3135
2781
1839 3916 1315
651
1000
2251
835
1057 3532 3376
2858 3834
1098 1342 424
180 2659
2655
3261
2754 569
927
3493 2514
2965 3196 2727 1583 720
2244
3039 603
2712
3412
3096 1192 1437
1075 3527
3465
2998 3752 3672 1853
1369
2018 473
3446
684 2409 2242
3871
2154 3307 2513 3837
804 1582
2443 1266
1944 3728
859
3021 2068
1852
2151
1088 1131
325 2567 3623
650 259
1946
3008 2243
1854
1943
3237
3169 3447
917
3179
1384
1529
631
1718 2065
776 2691
1548
2379 3641
1405
4063
649 455
3929
1387
823 124
1275 2378 3771 2550 3490
1546
2008 2548
3320 1945 3469
3972
606
3639 3273 33 167
1717 2487
2150
2709 1609
3907
2821 627
1952 189
520 2153
981 3576 3862 3694
1535
457 3923 682
173
2011
3115
1482 3930 628
3629 2752
2614 402
3657 1371
1565
2149
2561 3414
3468
602
439
166 3449
2531 467 1942
629
2725 680 1344
2267 2013
729
2060
3494 1345
407
2690