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The document is an overview of the ebook 'Foundations of Complex Systems' by Gregoire Nicolis and Catherine Nicolis, which explores the field of complexity science, emphasizing its interdisciplinary nature and relevance to various scientific domains. It discusses the evolution of complexity as a scientific paradigm, the integration of nonlinear dynamics and statistical physics, and the development of tools for analyzing complex systems. The book is aimed at graduate students and researchers, providing insights into the modeling and prediction of complex behaviors across different fields.

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(Ebook) Foundations of complex systems: Nonlinear dynamic, statistical physics, information and prediction by Gregoire Nicolis ISBN 9789812700438, 9789812775658, 9812700439, 981277565X download

The document is an overview of the ebook 'Foundations of Complex Systems' by Gregoire Nicolis and Catherine Nicolis, which explores the field of complexity science, emphasizing its interdisciplinary nature and relevance to various scientific domains. It discusses the evolution of complexity as a scientific paradigm, the integration of nonlinear dynamics and statistical physics, and the development of tools for analyzing complex systems. The book is aimed at graduate students and researchers, providing insights into the modeling and prediction of complex behaviors across different fields.

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FOUNDATIONS OF
COMPLEX SYSTEMS
Nonlinear Dynamics, Statistical Physics, Information
and Prediction
This page intentionally left blank
FOUNDATIONS OF
COMPLEX SYSTEMS
Nonlinear Dynamics, Statistical Physics, Information
and Prediction

Gregoire Nicolis
University of Brussels, Belgium

Catherine Nicolis
Royal Meteorological Institute of Belgium, Belgium

vp World Scientific
N E W JERSEY - LONDON * SINGAPORE * BElJlNG SHANGHAI * HONG KONG * TAIPEI * CHENNAI
Published by
World Scientific Publishing Co. Pte. Ltd.
5 Toh Tuck Link, Singapore 596224
USA office: 27 Warren Street, Suite 401-402, Hackensack, NJ 07601
UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE

British Library Cataloguing-in-Publication Data


A catalogue record for this book is available from the British Library.

FOUNDATIONS OF COMPLEX SYSTEMS


Nonlinear Dynamics, Statistical Physics, Information and Prediction
Copyright © 2007 by World Scientific Publishing Co. Pte. Ltd.
All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means,
electronic or mechanical, including photocopying, recording or any information storage and retrieval
system now known or to be invented, without written permission from the Publisher.

For photocopying of material in this volume, please pay a copying fee through the Copyright
Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to
photocopy is not required from the publisher.

ISBN-13 978-981-270-043-8
ISBN-10 981-270-043-9

Printed in Singapore.
To Helen, Stamatis and little Katy

v
This page intentionally left blank
Preface

Complexity became a major scientific field in its own right as recently as 15


years ago, and since then it has modified considerably the scientific land-
scape through thousands of high-impact publications as well as through the
creation of specialized journals, Institutes, learned societies and University
chairs devoted specifically to it. It constitutes today a paradigm for ap-
proaching a large body of phenomena of concern at the crossroads of physical,
engineering, environmental, life and human sciences from a unifying point of
view.
Nonlinear science and statistical physics had been addressing for some
time phenomena of this kind: self-organization in nonequilibrium systems,
glassy materials, pattern formation, deterministic chaos are landmarks, wit-
nessing the success they have achieved in explaining how unexpected struc-
tures and events can be generated from the laws of nature in systems involv-
ing interacting subunits when appropriate conditions are satisfied - an issue
closely related to the problematics of complexity. And yet, on the one side,
for quite some time these attempts were progressing in rather disconnected
ways following their own momentum and success; and on the other side,
they were remaining confined to a large extent within a community of strong
background in physical and mathematical science, and did not incorporate
to a sufficient degree insights from the practitioner confronted with naturally
occurring systems where issues eliciting the idea of complexity show up in
a most pressing way. Last but not least, there was a lack of insight and of
illustrative power of just what are the minimal ingredients for observing the
sort of behaviors that would qualify as “complex”.
A first breakthrough that contributed significantly to the birth of com-
plexity research occurred in the late 1980’s - early 1990’s. It arose from the
cross-fertilization of ideas and tools from nonlinear science, statistical physics
and numerical simulation, the latter being a direct offspring of the increasing
availability of computers. By bringing chaos and irreversibility together it
showed that deterministic and probabilistic views, causality and chance, sta-
bility and evolution were different facets of a same reality when addressing

vii
viii Preface

certain classes of systems. It also provided insights on the relative roles of the
number of elements involved in the process and the nature of the underlying
dynamics. Paul Anderson’s well-known aphorism, “more is different”, that
contributed to the awareness of the scientific community on the relevance of
complexity, is here complemented in a most interesting way.
The second breakthrough presiding in the birth of complexity coincides
with the increasing input of fields outside the strict realm of physical science.
The intrusion of concepts that were till then not part of the vocabulary of fun-
damental science forced a reassessment of ideas and practices. Predictability,
in connection with the increasing concern about the evolution of the atmo-
sphere, climate and financial activities; algorithms, information, symbols,
networks, optimization in connection with life sciences, theoretical informat-
ics, computer science, engineering and management; adaptive behavior and
cognitive processes in connection with brain research, ethology and social
sciences are some characteristic examples.
Finally, time going on, it became clear that generic aspects of the complex
behaviors observed across a wide spectrum of fields could be captured by
minimal models governed by simple local rules. Some of them gave rise in
their computer implementation to attractive visualizations and deep insights,
from Monte Carlo simulations to cellular automata and multi-agent systems.
These developments provided the tools and paved the way to an under-
standing, both qualitative and quantitative, of the complex systems encoun-
tered in nature, technology and everyday experience. In parallel, natural
complexity acted as a source of inspiration generating progress at the funda-
mental level. Spontaneously, in a very short time interval complexity became
in this way a natural reference point for all sorts of communities and prob-
lems. Inevitably, in parallel with the substantial progress achieved ambiguous
statements and claims were also formulated related in one way or the other
to the diversity of backgrounds of the actors involved and their perceptions
as to the relative roles of hard facts, mechanisms, analogies and metaphors.
As a result complexity research is today both one of the most active and
fastest growing fields of science and a forum for the exchange of sometimes
conflicting ideas and views cutting across scientific disciplines.
In this book the foundations of complex systems are outlined. The vision
conveyed is that of complexity as a part of fundamental science, in which
the insights provided by its cross-fertilization with other disciplines are in-
corporated. What is more, we argue that by virtue of this unique blending
complexity ranks among the most relevant parts of fundamental science as it
addresses phenomena that unfold on our own scale, phenomena in the course
of which the object and the observer are co-evolving. A unifying presentation
of the concepts and tools needed to analyze, to model and to predict com-
Preface ix

plex systems is laid down and links between key concepts such as emergence,
irreversibility, evolution, randomness and information are established in the
light of the complexity paradigm. Furthermore, the interdisciplinary dimen-
sion of complexity research is brought out through representative examples.
Throughout the presentation emphasis is placed on the need for a multi-
level approach to complex systems integrating deterministic and probabilis-
tic views, structure and dynamics, microscopic, mesoscopic and macroscopic
level descriptions.
The book is addressed primarily to graduate level students and to re-
searchers in physics, mathematics and computer science, engineering, envi-
ronmental and life sciences, economics and sociology. It can constitute the
material of a graduate-level course and we also hope that, outside the aca-
demic community, professionals interested in interdisciplinary issues will find
some interest in its reading. The choice of material, the style and the cov-
erage of the items reflect our concern to do justice to the multiple facets
of complexity. There can be no “soft” approach to complexity: observing,
monitoring, analyzing, modeling, predicting and controlling complex systems
can only be achieved through the time-honored approach provided by “hard”
science. The novelty brought by complex systems is that in this endeavor the
goals are reassessed and the ways to achieve them are reinvented in a most
unexpected way as compared to classical approaches.
Chapter 1 provides an overview of the principal manifestations of com-
plexity. Unifying concepts such as instability, sensitivity, bifurcation, emer-
gence, self-organization, chaos, predictability, evolution and selection are
sorted out in view of later developments and the need for a bottom-up ap-
proach to complexity is emphasized. In Chapter 2 the basis of a deterministic
approach to the principal behaviors characteristic of the phenomenology of
complex systems at different levels of description is provided, using the for-
malism of nonlinear dynamical systems. The fundamental mechanism under-
lying emergence is identified. At the same time the limitations of a universal
description of complex systems within the framework of a deterministic ap-
proach are revealed and the “open future” character of their evolution is
highlighted. Some prototypical ways to model complexity in physical science
and beyond are also discussed, with emphasis on the role of the coupling
between constituting elements. In Chapter 3 an analysis incorporating the
probabilistic dimension of complex systems is carried out. It leads to some
novel ways to characterize complex systems, allows one to recover universal
trends in their evolution and brings out the limitations of the determinis-
tic description. These developments provide the background for different
ways to simulate complex systems and for understanding the relative roles
of dynamics and structure in their behavior. The probabilistic approach to
x Preface

complexity is further amplified in Chapter 4 by the incorporation of the con-


cepts of symbolic dynamics and information. A set of entropy-like quantities
is introduced and their connection with their thermodynamic counterparts is
discussed. The selection rules presiding the formation of complex structures
are also studied in terms of these quantities and the nature of the underlying
dynamics. The stage is thus set for the analysis of the algorithmic aspects of
complex systems and for the comparison between algorithmic complexity as
defined in theoretical computer science and natural complexity.
Building on the background provided by Chapters 1 to 4, Chapter 5 ad-
dresses “operational” aspects of complexity, such as monitoring and data
analysis approaches targeted specifically to complex systems. Special em-
phasis is placed on the mechanisms underlying the propagation of prediction
errors and the existence of a limited predictability horizon. The chapter ends
with a discussion of recurrence and extreme events, two prediction-oriented
topics of increasing concern. Finally, in Chapter 6 complexity is shown “in
action” on a number of selected topics. The choices made in this selection out
of the enormous number of possibilities reflect our general vision of complex-
ity as part of fundamental science but also, inevitably, our personal interests
and biases. We hope that this coverage illustrates adequately the relevance
and range of applicability of the ideas and tools outlined in the book. The
chapter ends with a section devoted to the epistemological aspects of com-
plex systems. Having no particular background in epistemology we realize
that this is a risky enterprise, but we feel that it cannot be dispensed with
in a book devoted to complexity. The presentation of the topics of this final
section is that of the practitioner of physical science, and contains only few
elements of specialized jargon in a topic that could by itself give rise to an
entire monograph.
In preparing this book we have benefitted from discussions with, com-
ments and help in the preparation of figures by Y. Almirantis, V. Basios, A.
Garcia Cantu, P. Gaspard, M. Malek Mansour, J. S. Nicolis, S. C. Nicolis,
A. Provata, R. Thomas and S. Vannitsem. S. Wellens assumed the hard task
of typing the first two versions of the manuscript.
Our research in the subject areas covered in this book is sponsored by
The University of Brussels, the Royal Meteorological Institute of Belgium,
the Science Policy Office of the Belgian Federal Government, the European
Space Agency and the European Commission. Their interest and support
are gratefully acknowledged.

G. Nicolis, C. Nicolis
Brussels, February 2007
Contents

Preface vii

1 The phenomenology of complex systems 1


1.1 Complexity, a new paradigm . . . . . . . . . . . . . . . . . . . 1
1.2 Signatures of complexity . . . . . . . . . . . . . . . . . . . . . 3
1.3 Onset of complexity . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Four case studies . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4.1 Rayleigh-Bénard convection . . . . . . . . . . . . . . . 8
1.4.2 Atmospheric and climatic variability . . . . . . . . . . 11
1.4.3 Collective problem solving: food recruitment in ants . . 15
1.4.4 Human systems . . . . . . . . . . . . . . . . . . . . . . 19
1.5 Summing up . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2 Deterministic view 25
2.1 Dynamical systems, phase space, stability . . . . . . . . . . . 25
2.1.1 Conservative systems . . . . . . . . . . . . . . . . . . . 27
2.1.2 Dissipative systems . . . . . . . . . . . . . . . . . . . . 27
2.2 Levels of description . . . . . . . . . . . . . . . . . . . . . . . 34
2.2.1 The microscopic level . . . . . . . . . . . . . . . . . . . 34
2.2.2 The macroscopic level . . . . . . . . . . . . . . . . . . 36
2.2.3 Thermodynamic formulation . . . . . . . . . . . . . . . 38
2.3 Bifurcations, normal forms, emergence . . . . . . . . . . . . . 41
2.4 Universality, structural stability . . . . . . . . . . . . . . . . . 46
2.5 Deterministic chaos . . . . . . . . . . . . . . . . . . . . . . . . 49
2.6 Aspects of coupling-induced complexity . . . . . . . . . . . . . 53
2.7 Modeling complexity beyond physical science . . . . . . . . . . 59

3 The probabilistic dimension of complex systems 64


3.1 Need for a probabilistic approach . . . . . . . . . . . . . . . . 64
3.2 Probability distributions and their evolution laws . . . . . . . 65
3.3 The retrieval of universality . . . . . . . . . . . . . . . . . . . 72

xi
xii Contents

3.4 The transition to complexity in probability space . . . . . . . 77


3.5 The limits of validity of the macroscopic description . . . . . . 82
3.5.1 Closing the moment equations in the mesoscopic
description . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.5.2 Transitions between states . . . . . . . . . . . . . . . . 84
3.5.3 Average values versus fluctuations in
deterministic chaos . . . . . . . . . . . . . . . . . . . . 88
3.6 Simulating complex systems . . . . . . . . . . . . . . . . . . . 90
3.6.1 Monte Carlo simulation . . . . . . . . . . . . . . . . . 91
3.6.2 Microscopic simulations . . . . . . . . . . . . . . . . . 92
3.6.3 Cellular automata . . . . . . . . . . . . . . . . . . . . . 94
3.6.4 Agents, players and games . . . . . . . . . . . . . . . . 95
3.7 Disorder-generated complexity . . . . . . . . . . . . . . . . . . 96

4 Information, entropy and selection 101


4.1 Complexity and information . . . . . . . . . . . . . . . . . . . 101
4.2 The information entropy of a history . . . . . . . . . . . . . . 104
4.3 Scaling rules and selection . . . . . . . . . . . . . . . . . . . . 106
4.4 Time-dependent properties of information.
Information entropy and thermodynamic entropy . . . . . . . 115
4.5 Dynamical and statistical properties of time histories.
Large deviations, fluctuation theorems . . . . . . . . . . . . . 117
4.6 Further information measures. Dimensions and Lyapunov
exponents revisited . . . . . . . . . . . . . . . . . . . . . . . . 120
4.7 Physical complexity, algorithmic complexity,
and computation . . . . . . . . . . . . . . . . . . . . . . . . . 124
4.8 Summing up: towards a thermodynamics of
complex systems . . . . . . . . . . . . . . . . . . . . . . . . . 128

5 Communicating with a complex system: monitoring,


analysis and prediction 131
5.1 Nature of the problem . . . . . . . . . . . . . . . . . . . . . . 131
5.2 Classical approaches and their limitations . . . . . . . . . . . . 131
5.2.1 Exploratory data analysis . . . . . . . . . . . . . . . . 132
5.2.2 Time series analysis and statistical forecasting . . . . . 135
5.2.3 Sampling in time and in space . . . . . . . . . . . . . . 138
5.3 Nonlinear data analysis . . . . . . . . . . . . . . . . . . . . . . 139
5.3.1 Dynamical reconstruction . . . . . . . . . . . . . . . . 139
5.3.2 Symbolic dynamics from time series . . . . . . . . . . . 143
5.3.3 Nonlinear prediction . . . . . . . . . . . . . . . . . . . 148
5.4 The monitoring of complex fields . . . . . . . . . . . . . . . . 151
Contents xiii

5.4.1 Optimizing an observational network . . . . . . . . . . 153


5.4.2 Data assimilation . . . . . . . . . . . . . . . . . . . . . 157
5.5 The predictability horizon and the limits of modeling . . . . . 159
5.5.1 The dynamics of growth of initial errors . . . . . . . . 160
5.5.2 The dynamics of model errors . . . . . . . . . . . . . . 164
5.5.3 Can prediction errors be controlled? . . . . . . . . . . . 170
5.6 Recurrence as a predictor . . . . . . . . . . . . . . . . . . . . 171
5.6.1 Formulation . . . . . . . . . . . . . . . . . . . . . . . . 172
5.6.2 Recurrence time statistics and dynamical
complexity . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.7 Extreme events . . . . . . . . . . . . . . . . . . . . . . . . . . 180
5.7.1 Formulation . . . . . . . . . . . . . . . . . . . . . . . . 180
5.7.2 Statistical theory of extremes . . . . . . . . . . . . . . 182
5.7.3 Signatures of a deterministic dynamics in
extreme events . . . . . . . . . . . . . . . . . . . . . . 185
5.7.4 Statistical and dynamical aspects of the Hurst
phenomenon . . . . . . . . . . . . . . . . . . . . . . . . 191

6 Selected topics 195


6.1 The arrow of time . . . . . . . . . . . . . . . . . . . . . . . . . 195
6.1.1 The Maxwell-Boltzmann revolution, kinetic theory,
Boltzmann’s equation . . . . . . . . . . . . . . . . . . . 196
6.1.2 First resolution of the paradoxes: Markov processes,
master equation . . . . . . . . . . . . . . . . . . . . . . 200
6.1.3 Generalized kinetic theories . . . . . . . . . . . . . . . 202
6.1.4 Microscopic chaos and nonequilibrium statistical
mechanics . . . . . . . . . . . . . . . . . . . . . . . . . 204
6.2 Thriving on fluctuations: the challenge of being small . . . . . 208
6.2.1 Fluctuation dynamics in nonequilibrium steady
states revisited . . . . . . . . . . . . . . . . . . . . . . 210
6.2.2 The peculiar energetics of irreversible paths
joining equilibrium states . . . . . . . . . . . . . . . . . 211
6.2.3 Transport in a fluctuating environment far from
equilibrium . . . . . . . . . . . . . . . . . . . . . . . . 214
6.3 Atmospheric dynamics . . . . . . . . . . . . . . . . . . . . . . 217
6.3.1 Low order models . . . . . . . . . . . . . . . . . . . . . 218
6.3.2 More detailed models . . . . . . . . . . . . . . . . . . . 222
6.3.3 Data analysis . . . . . . . . . . . . . . . . . . . . . . . 223
6.3.4 Modeling and predicting with probabilities . . . . . . . 224
6.4 Climate dynamics . . . . . . . . . . . . . . . . . . . . . . . . . 226
6.4.1 Low order climate models . . . . . . . . . . . . . . . . 227
xiv Contents

6.4.2 Predictability of meteorological versus climatic fields . 230


6.4.3 Climatic change . . . . . . . . . . . . . . . . . . . . . . 233
6.5 Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.5.1 Geometric and statistical properties of networks . . . . 236
6.5.2 Dynamical origin of networks . . . . . . . . . . . . . . 239
6.5.3 Dynamics on networks . . . . . . . . . . . . . . . . . . 244
6.6 Perspectives on biological complexity . . . . . . . . . . . . . . 247
6.6.1 Nonlinear dynamics and self-organization at the
biochemical, cellular and organismic level . . . . . . . . 249
6.6.2 Biological superstructures . . . . . . . . . . . . . . . . 251
6.6.3 Biological networks . . . . . . . . . . . . . . . . . . . . 253
6.6.4 Complexity and the genome organization . . . . . . . . 260
6.6.5 Molecular evolution . . . . . . . . . . . . . . . . . . . . 263
6.7 Equilibrium versus nonequilibrium in complexity and
self-organization . . . . . . . . . . . . . . . . . . . . . . . . . . 267
6.7.1 Nucleation . . . . . . . . . . . . . . . . . . . . . . . . . 268
6.7.2 Stabilization of nanoscale patterns . . . . . . . . . . . 272
6.7.3 Supramolecular chemistry . . . . . . . . . . . . . . . . 274
6.8 Epistemological insights from complex systems . . . . . . . . . 276
6.8.1 Complexity, causality and chance . . . . . . . . . . . . 277
6.8.2 Complexity and historicity . . . . . . . . . . . . . . . . 279
6.8.3 Complexity and reductionism . . . . . . . . . . . . . . 283
6.8.4 Facts, analogies and metaphors . . . . . . . . . . . . . 285

Color plates 287

Suggestions for further reading 291

Index 321
´ ˜ ´  ´ ´ ` ´
 ´ ´ 
The whole is more than the sum
of its parts

Aristotle Metaphysica 1045a

Chapter 1

The phenomenology of complex


systems

1.1 Complexity, a new paradigm


Complexity is part of our ordinary vocabulary. It has been used in everyday
life and in quite different contexts for a long time and suddenly, as recently
as 15 years ago it became a major field of interdisciplinary research that
has since then modified considerably the scientific landscape. What is in
the general idea of complexity that was missing in our collective knowledge
-one might even say, in our collective consciousness- which, once recognized,
conferred to it its present prominent status? What makes us designate certain
systems as “complex” distinguishing them from others that we would not
hesitate to call “simple”, and to what extent could such a distinction be
the starting point of a new approach to a large body of phenomena at the
crossroads of physical, engineering, environmental, life and human sciences?
For the public and for the vast majority of scientists themselves science is
usually viewed as an algorithm for predicting, with a theoretically unlimited
precision, the future course of natural objects on the basis of their present
state. Isaac Newton, founder of modern physics, showed more than three
centuries ago how with the help of a few theoretical concepts like the law of
universal gravitation, whose statement can be condensed in a few lines, one
can generate data sets as long as desired allowing one to interpret the essence
of the motion of celestial bodies and predict accurately, among others, an
eclipse of the sun or of the moon thousands of years in advance. The impact
of this historical achievement was such that, since then, scientific thinking
has been dominated by the Newtonian paradigm whereby the world is re-
ducible to a few fundamental elements animated by a regular, reproducible

1
2 Foundations of Complex Systems

and hence predictable behavior: a world that could in this sense be qualified
as fundamentally simple.
During the three-century reign of the Newtonian paradigm science reached
a unique status thanks mainly to its successes in the exploration of the very
small and the very large: the atomic, nuclear and subnuclear constitution
of matter on the one side; and cosmology on the other. On the other hand
man’s intuition and everyday experience are essentially concerned with the
intermediate range of phenomena involving objects constituted by a large
number of interacting subunits and unfolding on his own, macroscopic, space
and time scales. Here one cannot avoid the feeling that in addition to regular
and reproducible phenomena there exist other that are, manifestly, much less
so. It is perfectly possible as we just recalled to predict an eclipse of the sun
or of the moon thousands of years in advance but we are incapable of pre-
dicting the weather over the region we are concerned more than a few days
in advance or the electrical activity in the cortex of a subject a few minutes
after he started performing a mental task, to say nothing about next day’s
Dow Jones index or the state of the planet earth 50 years from now. Yet the
movement of the atmosphere and the oceans that governs the weather and
the climate, the biochemical reactions and the transport phenomena that
govern the functioning of the human body and underlie, after all, human
behavior itself, obey to the same dispassionate laws of nature as planetary
motion.
It is a measure of the fascination that the Newtonian paradigm exerted
on scientific thought that despite such indisputable facts, which elicit to the
observer the idea of “complexity”, the conviction prevailed until recently that
the irregularity and unpredictability of the vast majority of phenomena on
our scale are not authentic: they are to be regarded as temporary drawbacks
reflecting incomplete information on the system at hand, in connection with
the presence of a large number of variables and parameters that the observer
is in the practical impossibility to manage and that mask some fundamental
underlying regularities.
If evidence on complexity were limited to the intricate, large scale systems
of the kind mentioned above one would have no way to refute such an asser-
tion and fundamental science would thus have nothing to say on complexity.
But over the years evidence has accumulated that quite ordinary systems
that one would tend to qualify as “simple”, obeying to laws known to their
least detail, in the laboratory, under strictly controlled conditions, generate
unexpected behaviors similar to the phenomenology of complexity as we en-
counter it in nature and in everyday experience: Complexity is not a mere
metaphor or a nice way to put certain intriguing things, it is a phenomenon
that is deeply rooted into the laws of nature, where systems involving large
The Phenomenology of Complex Systems 3

numbers of interacting subunits are ubiquitous.


This realization opens the way to a systematic search of the physical
and mathematical laws governing complex systems. The enterprise was
crowned with success thanks to a multilevel approach that led to the de-
velopment of highly original methodologies and to the unexpected cross-
fertilizations and blendings of ideas and tools from nonlinear science, sta-
tistical mechanics and thermodynamics, probability theory and numerical
simulation. Thanks to the progress accomplished complexity is emerging as
the new, post-Newtonian paradigm for a fresh look at problems of current
concern. On the one side one is now in the position to gain new understand-
ing, both qualitative and quantitative, of the complex systems encountered
in nature and in everyday experience based on advanced modeling, analysis
and monitoring strategies. Conversely, by raising issues and by introducing
concepts beyond the traditional realm of physical science, natural complexity
acts as a source of inspiration for further progress at the fundamental level.
It is this sort of interplay that confers to research in complexity its unique,
highly interdisciplinary character.
The objective of this chapter is to compile some representative facts il-
lustrating the phenomenology associated with complex systems. The subse-
quent chapters will be devoted to the concepts and methods underlying the
paradigm shift brought by complexity and to showing their applicability on
selected case studies.

1.2 Signatures of complexity


The basic thesis of this book is that a system perceived as complex induces a
characteristic phenomenology the principal signature of which is multiplicity.
Contrary to elementary physical phenomena like the free fall of an object
under the effect of gravity where a well-defined, single action follows an initial
cause at any time, several outcomes appear to be possible. As a result the
system is endowed with the capacity to choose between them, and hence
to explore and to adapt or, more generally, to evolve. This process can be
manifested in the form of two different expressions.

• The emergence, within a system composed of many units, of global


traits encompassing the system as a whole that can in no way be
reduced to the properties of the constituent parts and can on these
grounds be qualified as “unexpected”. By its non-reductionist charac-
ter emergence has to do with the creation and maintenance of hierar-
chical structures in which the disorder and randomness that inevitably
4 Foundations of Complex Systems

exist at the local level are controlled, resulting in states of order and
long range coherence. We refer to this process as self-organization. A
classical example of this behavior is provided by the communication
and control networks in living matter, from the subcellular to the or-
ganismic level.
• The intertwining, within the same phenomenon, of large scale regu-
larities and of elements of “surprise” in the form of seemingly erratic
evolutionary events. Through this coexistence of order and disorder
the observer is bound to conclude that the process gets at times out
of control, and this in turn raises the question of the very possibility
of its long-term prediction. Classical examples are provided by the
all-familiar difficulty to issue satisfactory weather forecasts beyond a
horizon of a few days as well as by the even more dramatic extreme
geological or environmental phenomena such as earthquakes or floods.
If the effects generated by some underlying causes were related to these
causes by a simple proportionality -more technically, by linear relationships-
there would be no place for multiplicity. Nonlinearity is thus a necessary con-
dition for complexity, and in this respect nonlinear science provides a natural
setting for a systematic description of the above properties and for sorting
out generic evolutionary scenarios. As we see later nonlinearity is ubiquitous
in nature on all levels of observation. In macroscopic scale phenomena it is
intimately related to the presence of feedbacks, whereby the occurrence of a
process affects (positively or negatively) the way it (or some other coexisting
process) will further develop in time. Feedbacks are responsible for the onset
of cooperativity, as illustrated in the examples of Sec. 1.4.
In the context of our study a most important question to address con-
cerns the transitions between states, since the question of complexity would
simply not arise in a system that remains trapped in a single state for ever.
To understand how such transitions can happen one introduces the concept
of control parameter, describing the different ways a system is coupled to its
environment and affected by it. A simple example is provided by a ther-
mostated cell containing chemically active species where, depending on the
environmental temperature, the chemical reactions will occur at different
rates. Another interesting class of control parameters are those associated to
a constraint keeping the system away of a state of equilibrium of some sort.
The most clearcut situation is that of the state of thermodynamic equilib-
rium which, in the absence of phase transitions, is known to be unique and
lack any form of dynamical activity on a large scale. One may then choose
this state as a reference, switch on constraints driving the system out of equi-
librium for instance in the form of temperature or concentration differences
The Phenomenology of Complex Systems 5

across the interface between the system and the external world, and see to
what extent the new states generated as a response to the constraint could
exhibit qualitatively new properties that are part of the phenomenology of
complexity. These questions, which are at the heart of complexity theory,
are discussed in the next section.

1.3 Onset of complexity


The principal conclusion of the studies of the response of a system to changes
of a control parameter is that the onset of complexity is not a smooth process.
Quite to the contrary, it is manifested by a cascade of transition phenomena
of an explosive nature to which is associated the universal model of bifurcation
and the related concepts of instability and chaos. These catastrophic events
are not foreseen in the fundamental laws of physics in which the dependence
on the parameters is perfectly smooth. To use a colloquial term, one might
say that they come as a “surprise”.
Figure 1.1 provides a qualitative representation of the foregoing. It de-
picts a typical evolution scenario in which, for each given value of a control
parameter λ, one records a certain characteristic property of the system as
provided, for instance, by the value of one of the variables X (temperature,
chemical concentration, population density, etc.) at a given point. For values
of λ less than a certain limit λc only one state can be realized. This state
possesses in addition to uniqueness the property of stability, in the sense that
the system is capable of damping or at least of keeping under control the in-
fluence of the external perturbations inflicted by the environment or of the
internal fluctuations generated continuously by the locally prevailing disor-
der, two actions to which a natural system is inevitably subjected. Clearly,
complexity has no place and no meaning under these conditions.
The situation changes radically beyond the critical value λc . One sees that
if continued, the unique state of the above picture would become unstable:
under the influence of external perturbations or of internal fluctuations the
system responds now as an amplifier, leaves the initial “reference” state and
is driven to one or as a rule to several new behaviors that merge to the
previous state for λ = λc but are differentiated from it for λ larger than λc .
This is the phenomenon of bifurcation: a phenomenon that becomes possible
thanks to the nonlinearity of the underlying evolution laws allowing for the
existence of multiple solutions (see Chapter 2 for quantitative details). To
understand its necessarily catastrophic character as anticipated earlier in this
section it is important to account for the following two important elements.
(a) An experimental measurement -the process through which we com-
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Manet lay stretched out on his back, naked, in front of the
transparent wall.
By rolling his eyes back in his head, Manet could see over a hedge of
eyebrows for several hundred flat miles of white sand.
And several hundred miles of desert could see him.
For a moment he gloried in the blatant display of his flabby muscles
and patchy sunburn.
Then he sighed, rolled over to his feet and started trudging toward
Communication.
He padded down the rib-ridged matted corridor, taking his usual
small pleasure in the kaleidoscopic effect of the spiraling reflections
on the walls of the tubeway.
As he passed the File Room, he caught the sound of the pounding
vibrations against the stoppered plug of the hatch.
"Come on, Billy Buddy, let me out of this place!"
Manet padded on down the hall. He had, he recalled, shoved Ronald
in there on Lincoln's Birthday, a minor ironic twist he appreciated
quietly. He had been waiting in vain for Ronald to run down ever
since.
In Communication, he took a seat and punched the slowed down
playback of the transmission.
"Hello, Overseers," the Voice said. It was the Voice of the B.B.C. It
irritated Manet. He never understood how the British had got the
space transmissions assignment for the English language. He would
have preferred an American disk-jockey himself, one who
appreciated New York swing.
"We imagine that you are most interested in how long you shall be
required to stay at your present stations," said the Voice of God's
paternal uncle. "As you on Mars may know, there has been much
discussion as to how long it will require to complete the present
schedule—" there was of course no "K" sound in the word—"for
atmosphere seeding.
"The original, non-binding estimate at the time of your departure
was 18.2 years. However, determining how long it will take our
stations properly to remake the air of Mars is a problem comparable
to finding the age of the Earth. Estimates change as new factors are
learned. You may recall that three years ago the official estimate
was changed to thirty-one years. The recent estimate by certain
reactionary sources of two hundred and seventy-four years is not an
official government estimate. The news for you is good, if you are
becoming nostalgic for home, or not particularly bad if you are
counting on drawing your handsome salary for the time spent on
Mars. We have every reason to believe our original estimate was
substantially correct. The total time is, within limits of error, a flat 18
years."
A very flat 18 years, Manet thought as he palmed off the recorder.
He sat there thinking about eighteen years.
He did not switch to video for some freshly taped westerns.
Finally, Manet went back to the solarium and dragged the big box
out. There was a lot left inside.
One of those parts, one of those bones or struts of flesh sprayers,
one of them, he now knew, was the Modifier.
The Modifier was what he needed to change Ronald. Or to shut him
off.
If only the Master Chart hadn't been lost, so he would know what
the Modifier looked like! He hoped the Modifier itself wasn't lost. He
hated to think of Ronald locked in the Usher tomb of the File Room
for 18 flat years. Long before that, he would have worn his fists
away hammering at the hatch. Then he might start pounding with
his head. Perhaps before the time was up he would have worn
himself down to nothing whatsoever.
Manet selected the ripple-finished gray-covered manual from the
hodgepodge, and thought: eighteen years.
Perhaps I should have begun here, he told himself. But I really don't
have as much interest in that sort of thing as the earthier types.
Simple companionship was all I wanted. And, he thought on, even
an insipid personality like Ronald's would be bearable with certain
compensations.
Manet opened the book to the chapter headed: The Making of a Girl.

Veronica crept up behind Manet and slithered her hands up his back
and over his shoulders. She leaned forward and breathed a moist
warmth into his ear, and worried the lobe with her even white teeth.
"Daniel Boone," she sighed huskily, "only killed three Indians in his
life."
"I know."
Manet folded his arms stoically and added: "Please don't talk."
She sighed her instant agreement and moved her expressive hands
over his chest and up to the hollows of his throat.
"I need a shave," he observed.
Her hands instantly caressed his face to prove that she liked a rather
bristly, masculine countenance.
Manet elbowed Veronica away in a gentlemanly fashion.
She made her return.
"Not now," he instructed her.
"Whenever you say."
He stood up and began pacing off the dimensions of the
compartment. There was no doubt about it: he had been missing his
regular exercise.
"Now?" she asked.
"I'll tell you."
"If you were a jet pilot," Veronica said wistfully, "you would be
romantic. You would grab love when you could. You would never
know which moment would be last. You would make the most of
each one."
"I'm not a jet pilot," Manet said. "There are no jet pilots. There
haven't been any for generations."
"Don't be silly," Veronica said. "Who else would stop those vile North
Koreans and Red China 'volunteers'?"
"Veronica," he said carefully, "the Korean War is over. It was finished
even before the last of the jet pilots."
"Don't be silly," she snapped. "If it were over, I'd know about it,
wouldn't I?"
She would, except that somehow she had turned out even less
bright, less equipped with Manet's own store of information, than
Ronald. Whoever had built the Lifo kit must have had ancient ideas
about what constituted appropriate "feminine" characteristics.
"I suppose," he said heavily, "that you would like me to take you
back to Earth and introduce you to Daniel Boone?"
"Oh, yes."
"Veronica, your stupidity is hideous."
She lowered her long blonde lashes on her pink cheeks. "That is a
mean thing to say to me. But I forgive you."
An invisible hand began pressing down steadily on the top of his
head until it forced a sound out of him. "Aaaawrraagggh! Must you
be so cloyingly sweet? Do you have to keep taking that? Isn't there
any fight in you at all?"
He stepped forward and back-handed her across the jaw.
It was the first time he had ever struck a woman, he realized
regretfully. He now knew he should have been doing it long ago.
Veronica sprang forward and led with a right.

Ronald's cries grew louder as Manet marched Veronica through the


corridor.
"Hear that?" he inquired, smiling with clenched teeth.
"No, darling."
Well, that was all right. He remembered he had once told her to
ignore the noise. She was still following orders.
"Come on, Bill, open up the hatch for old Ronald," the voice carried
through sepulchrally.
"Shut up!" Manet yelled.
The voice dwindled stubbornly, then cut off.
A silence with a whisper of metallic ring to it.
Why hadn't he thought of that before? Maybe because he secretly
took comfort in the sound of an almost human voice echoing
through the station.
Manet threw back the bolt and wheeled back the hatch.
Ronald looked just the same as had when Manet had seen him last.
His hands didn't seem to have been worn away in the least. Ronald's
lips seemed a trifle chapped. But that probably came not from all the
shouting but from having nothing to drink for some months.
Ronald didn't say anything to Manet.
But he looked offended.
"You," Manet said to Veronica with a shove in the small of the back,
"inside, inside."
Ronald sidestepped the lurching girl.
"Do you know what I'm going to do with you?" Manet demanded.
"I'm going to lock you up in here, and leave you for a day, a month,
a year, forever! Now what do you think about that?"
"If you think it's the right thing, dear," Veronica said hesitantly.
"You know best, Willy," Ronald said uncertainly.
Manet slammed the hatch in disgust.
Manet walked carefully down the corridor, watching streamers of his
reflection corkscrewing into the curved walls. He had to walk
carefully, else the artery would roll up tight and squash him. But he
walked too carefully for this to happen.
As he passed the File Room, Ronald's voice said: "In my opinion,
William, you should let us out."
"I," Veronica said, "honestly feel that you should let me out, Bill,
dearest."
Manet giggled. "What? What was that? Do you suggest that I take
you back after you've been behind a locked door with my best
friend?"
He went down the corridor, giggling.
He giggled and thought: This will never do.

Pouring and tumbling through the Lifo kit, consulting the manual
diligently, Manet concluded that there weren't enough parts left in
the box to go around.
The book gave instructions for The Model Mother, The Model Father,
The Model Sibling and others. Yet there weren't parts enough in the
kit.
He would have to take parts from Ronald or Veronica in order to
make any one of the others. And he could not do that without the
Modifier.
He wished Trader Tom would return and extract some higher price
from him for the Modifier, which was clearly missing from the kit.
Or to get even more for simply repossessing the kit.
But Trader Tom would not be back. He came this way only once.
Manet thumbed through the manual in mechanical frustration. As he
did so, the solid piece of the last section parted sheet by sheet.
He glanced forward and found the headings: The Final Model.
There seemed something ominous about that finality. But he had
paid a price for the kit, hadn't he? Who knew what price, when it
came to that? He had every right to get everything out of the kit
that he could.
He read the unfolding page critically. The odd assortment of ill-
matched parts left in the box took a new shape in his mind and
under his fingers....
Manet gave one final spurt from the flesh-sprayer and stood back.
Victor was finished. Perfect.
Manet stepped forward, lifted the model's left eyelid, tweaked his
nose.
"Move!"
Victor leaped back into the Lifo kit and did a jig on one of the flesh-
sprayers.
As the device twisted as handily as good intentions, Manet realized
that it was not a flesh-sprayer but the Modifier.
"It's finished!" were Victor's first words. "It's done!"
Manet stared at the tiny wreck. "To say the least."
Victor stepped out of the oblong box. "There is something you
should understand. I am different from the others."
"They all say that."
"I am not your friend."
"No?"
"No. You have made yourself an enemy."
Manet felt nothing more at this information than an esthetic pleasure
at the symmetry of the situation.
"It completes the final course in socialization," Victor continued. "I
am your adversary. I will do everything I can to defeat you. I have
all your knowledge. You do not have all your knowledge. If you let
yourself know some of the things, it could be used against you. It is
my function to use everything I possibly can against you."
"When do you start?"
"I've finished. I've done my worst. I have destroyed the Modifier."
"What's so bad about that?" Manet asked with some interest.
"You'll have Veronica and Ronald and me forever now. We'll never
change. You'll get older, and we'll never change. You'll lose your
interest in New York swing and jet combat and Daniel Boone, and
we'll never change. We don't change and you can't change us for
others. I've made the worst thing happen to you that can happen to
any man. I've seen that you will always keep your friends."

The prospect was frightful.


Victor smiled. "Aren't you going to denounce me for a fiend?"
"Yes, it is time for the denouncement. Tell me, you feel that now you
are through? You have fulfilled your function?"
"Yes. Yes."
"Now you will have but to lean back, as it were, so to speak, and see
me suffer?"
"Yes."
"No. Can't do it, old man. Can't. I know. You're too human, too like
me. The one thing a man can't accept is a passive state, a state of
uselessness. Not if he can possibly avoid it. Something has to be
happening to him. He has to be happening to something. You didn't
kill me because then you would have nothing left to do. You'll never
kill me."
"Of course not!" Victor stormed. "Fundamental safety cut-off!"
"Rationalization. You don't want to kill me. And you can't stop
challenging me at every turn. That's your function."
"Stop talking and just think about your miserable life," Victor said
meanly. "Your friends won't grow and mature with you. You won't
make any new friends. You'll have me to constantly remind you of
your uselessness, your constant unrelenting sterility of purpose.
How's that for boredom, for passiveness?"
"That's what I'm trying to tell you," Manet said irritably, his social
manners rusty. "I won't be bored. You will see to that. It's your
purpose. You'll be a challenge, an obstacle, a source of triumph
every foot of the way. Don't you see? With you for an enemy, I don't
need a friend!"
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