| Preface to Second Edition |
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xvii | |
| Preface to the First Edition |
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xix | |
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1 | (18) |
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1.1 Brief Review of Useful Concepts |
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2 | (2) |
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1.2 Laser with Modulated Losses |
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4 | (7) |
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1.3 Objectives of a New Analysis Procedure |
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11 | (1) |
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12 | (2) |
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1.5 Organization of This Work |
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14 | (5) |
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2 Discrete Dynamical Systems: Maps |
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19 | (86) |
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19 | (1) |
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20 | (2) |
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22 | (3) |
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2.4 Elementary Bifurcations in the Logistic Map |
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25 | (7) |
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2.4.1 Saddle-Node Bifurcation |
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25 | (4) |
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2.4.2 Period-Doubling Bifurcation |
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29 | (3) |
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32 | (2) |
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2.5.1 Changes of Coordinates |
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32 | (1) |
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2.5.2 Invariants of Conjugacy |
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33 | (1) |
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2.6 Fully Developed Chaos in the Logistic Map |
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34 | (8) |
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2.6.1 Iterates of the Tent Map |
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35 | (1) |
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36 | (1) |
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2.6.3 Sensitivity to Initial Conditions and Mixing |
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37 | (1) |
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2.6.4 Chaos and Density of (Unstable) Periodic Orbits |
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38 | (1) |
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2.6.4.1 Number of Periodic Orbits of the Tent Map |
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38 | (1) |
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2.6.4.2 Expansiveness Implies Infinitely Many Periodic Orbits |
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39 | (1) |
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2.6.5 Symbolic Coding of Trajectories: First Approach |
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40 | (2) |
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2.7 One-Dimensional Symbolic Dynamics |
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42 | (17) |
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42 | (2) |
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2.7.2 Symbolic Dynamics of Expansive Maps |
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44 | (4) |
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2.7.3 Grammar of Chaos: First Approach |
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48 | (1) |
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2.7.3.1 Interval Arithmetics and Invariant Interval |
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48 | (1) |
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2.7.3.2 Existence of Forbidden Sequences |
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49 | (2) |
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51 | (1) |
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2.7.4.1 Ordering of Itineraries |
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52 | (2) |
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2.7.4.2 Admissible Sequences |
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54 | (1) |
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2.7.5 Bifurcation Diagram of the Logistic Map Revisited |
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55 | (1) |
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2.7.5.1 Saddle-Node Bifurcations |
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55 | (1) |
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2.7.5.2 Period-Doubling Bifurcations |
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56 | (1) |
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2.7.5.3 Universal Sequence |
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57 | (1) |
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2.7.5.4 Self-Similar Structure of the Bifurcation Diagram |
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58 | (1) |
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2.8 Shift Dynamical Systems, Markov Partitions, and Entropy |
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59 | (11) |
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2.8.1 Shifts of Finite Type and Topological Markov Chains |
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59 | (2) |
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2.8.2 Periodic Orbits and Topological Entropy of a Markov Chain |
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61 | (2) |
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63 | (2) |
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2.8.4 Approximation by Markov Chains |
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65 | (1) |
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65 | (1) |
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2.8.6 Dealing with Grammars |
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66 | (1) |
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67 | (2) |
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2.8.6.2 Complicated Grammars |
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69 | (1) |
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2.9 Fingerprints of Periodic Orbits and Orbit Forcing |
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70 | (7) |
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2.9.1 Permutation of Periodic Points as a Topological Invariant |
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70 | (2) |
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2.9.2 Topological Entropy of a Periodic Orbit |
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72 | (2) |
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2.9.3 Period 3 Implies Chaos and Sarkovskii's Theorem |
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74 | (1) |
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2.9.4 Period 3 Does Not Always Imply Chaos: Role of Phase-Space Topology |
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75 | (1) |
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2.9.5 Permutations and Orbit Forcing |
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75 | (2) |
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2.10 Two-Dimensional Dynamics: Smale's Horseshoe |
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77 | (8) |
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77 | (1) |
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2.10.2 Symbolic Dynamics of the Invariant Set |
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78 | (3) |
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2.10.3 Dynamical Properties |
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81 | (1) |
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2.10.4 Variations on the Horseshoe Map: Baker Maps |
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82 | (3) |
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85 | (11) |
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2.11.1 A Once-Folding Map |
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85 | (2) |
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2.11.2 Symbolic Dynamics of the Henon Map: Coding |
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87 | (6) |
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2.11.3 Symbolic Dynamics of the Henon Map: Grammar |
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93 | (3) |
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96 | (4) |
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2.12.1 A New Global Topology |
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96 | (1) |
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2.12.2 Frequency Locking and Arnold Tongues |
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96 | (4) |
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2.12.3 Chaotic Circle Maps as Limits of Annulus Maps |
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100 | (1) |
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100 | (4) |
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104 | (1) |
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3 Continuous Dynamical Systems: Flows |
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105 | (36) |
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3.1 Definition of Dynamical Systems |
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105 | (1) |
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3.2 Existence and Uniqueness Theorem |
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106 | (1) |
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3.3 Examples of Dynamical Systems |
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107 | (13) |
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107 | (2) |
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3.3.2 Van der Pol Equation |
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109 | (2) |
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111 | (2) |
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113 | (1) |
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3.3.5 Examples of Nondynamical Systems |
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114 | (1) |
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3.3.5.1 Equation with Non-Lipschitz Forcing Terms |
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115 | (1) |
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3.3.5.2 Delay Differential Equations |
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115 | (1) |
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3.3.5.3 Stochastic Differential Equations |
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116 | (1) |
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3.3.6 Additional Observations |
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117 | (3) |
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120 | (5) |
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120 | (1) |
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121 | (3) |
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124 | (1) |
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125 | (6) |
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3.5.1 Dependence on Topology of Phase Space |
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125 | (1) |
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3.5.2 How to Find Fixed Points in Rn |
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126 | (1) |
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3.5.3 Bifurcations of Fixed Points |
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127 | (3) |
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3.5.4 Stability of Fixed Points |
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130 | (1) |
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131 | (3) |
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3.6.1 Locating Periodic Orbits in Rn-1 × S1 |
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131 | (1) |
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3.6.2 Bifurcations of Fixed Points |
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132 | (1) |
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3.6.3 Stability of Fixed Points |
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133 | (1) |
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3.7 Flows Near Nonsingular Points |
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134 | (2) |
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3.8 Volume Expansion and Contraction |
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136 | (1) |
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3.9 Stretching and Squeezing |
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137 | (1) |
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3.10 The Fundamental Idea |
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138 | (1) |
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139 | (2) |
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141 | (34) |
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4.1 Stretching and Squeezing Mechanisms |
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141 | (4) |
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145 | (14) |
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146 | (1) |
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147 | (1) |
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148 | (3) |
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151 | (2) |
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4.2.5 Linking Numbers for a Horseshoe |
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153 | (1) |
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4.2.6 Linking Numbers for the Lorenz Attractor |
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154 | (1) |
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4.2.7 Linking Numbers for the Period-Doubling Cascade |
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154 | (1) |
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155 | (1) |
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156 | (2) |
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4.2.10 Additional Properties |
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158 | (1) |
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4.3 Relative Rotation Rates |
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159 | (10) |
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160 | (1) |
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4.3.2 Computing Relative Rotation Rates |
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160 | (3) |
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4.3.3 Horseshoe Mechanism |
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163 | (5) |
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4.3.4 Additional Properties |
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168 | (1) |
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4.4 Relation between Linking Numbers and Relative Rotation Rates |
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169 | (1) |
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4.5 Additional Uses of Topological Invariants |
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170 | (4) |
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4.5.1 Bifurcation Organization |
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170 | (1) |
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171 | (1) |
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171 | (3) |
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174 | (1) |
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175 | (52) |
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175 | (3) |
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5.2 What Does This Have to Do with Dynamical Systems? |
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178 | (1) |
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5.3 General Properties of Branched Manifolds |
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178 | (3) |
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5.4 Birman-Williams Theorem |
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181 | (3) |
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5.4.1 Birman-Williams Projection |
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182 | (1) |
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5.4.2 Statement of the Theorem |
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183 | (1) |
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5.5 Relaxation of Restrictions |
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184 | (2) |
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5.5.1 Strongly Contracting Restriction |
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184 | (1) |
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5.5.2 Hyperbolic Restriction |
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185 | (1) |
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5.6 Examples of Branched Manifolds |
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186 | (8) |
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5.6.1 Smale-Rossler System |
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186 | (2) |
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188 | (1) |
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189 | (3) |
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192 | (2) |
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5.7 Uniqueness and Nonuniqueness |
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194 | (6) |
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195 | (2) |
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197 | (3) |
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200 | (1) |
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5.9 Topological Invariants |
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201 | (6) |
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202 | (3) |
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205 | (2) |
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5.9.3 Relative Rotation Rates |
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207 | (1) |
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5.10 Additional Properties |
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207 | (9) |
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5.10.1 Period as Linking Number |
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208 | (1) |
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5.10.2 EBK-Like Expression for Periods |
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208 | (1) |
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209 | (1) |
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5.10.4 Blow-Up of Branched Manifolds |
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210 | (1) |
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5.10.5 Branched-Manifold Singularities |
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211 | (1) |
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5.10.6 Constructing a Branched Manifold from a Map |
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212 | (1) |
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5.10.7 Topological Entropy |
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213 | (3) |
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216 | (8) |
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216 | (2) |
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218 | (1) |
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5.11.3 Topological Entropy |
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219 | (2) |
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5.11.4 Subtemplates of the Smale Horseshoe |
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221 | (1) |
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5.11.5 Subtemplates Involving Tongues |
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222 | (2) |
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224 | (3) |
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6 Topological Analysis Program |
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227 | (44) |
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6.1 Brief Summary of the Topological Analysis Program |
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227 | (1) |
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6.2 Overview of the Topological Analysis Program |
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228 | (6) |
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6.2.1 Find Periodic Orbits |
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228 | (1) |
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229 | (1) |
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6.2.3 Compute Topological Invariants |
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230 | (1) |
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230 | (1) |
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231 | (1) |
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232 | (1) |
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233 | (1) |
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234 | (9) |
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235 | (1) |
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6.3.2 Processing in the Time Domain |
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236 | (2) |
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6.3.3 Processing in the Frequency Domain |
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238 | (1) |
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6.3.3.1 High-Frequency Filter |
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238 | (1) |
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6.3.3.2 Low-Frequency Filter |
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238 | (1) |
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6.3.3.3 Derivatives and Integrals |
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239 | (1) |
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6.3.3.4 Hilbert Transforms |
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240 | (1) |
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6.3.3.5 Fourier Interpolation |
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241 | (1) |
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6.3.3.6 Transform and Interpolation |
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242 | (1) |
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243 | (13) |
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6.4.1 Embeddings for Periodically Driven Systems |
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244 | (1) |
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6.4.2 Differential Embeddings |
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244 | (3) |
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6.4.3 Differential-Integral Embeddings |
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247 | (1) |
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6.4.4 Embeddings with Symmetry |
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248 | (1) |
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6.4.5 Time-Delay Embeddings |
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249 | (2) |
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6.4.6 Coupled-Oscillator Embeddings |
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251 | (1) |
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252 | (2) |
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254 | (1) |
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254 | (2) |
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256 | (6) |
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6.5.1 Close Returns Plots for Flows |
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256 | (2) |
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6.5.1.1 Close Returns Histograms |
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258 | (1) |
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258 | (1) |
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6.5.2 Close Returns in Maps |
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259 | (1) |
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259 | (1) |
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260 | (1) |
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261 | (1) |
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6.6 Computation of Topological Invariants |
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262 | (1) |
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262 | (1) |
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6.6.2 Linking Numbers and Relative Rotation Rates |
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262 | (1) |
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263 | (1) |
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263 | (1) |
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6.7.1 Period-1 and Period-2 Orbits |
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263 | (1) |
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264 | (1) |
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6.7.3 More Complicated Branched Manifolds |
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264 | (1) |
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264 | (1) |
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6.8.1 Predict Additional Toplogical Invariants |
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265 | (1) |
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265 | (1) |
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265 | (1) |
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265 | (3) |
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268 | (2) |
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6.10.1 Qualitative Validation |
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269 | (1) |
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6.10.2 Quantitative Validation |
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269 | (1) |
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270 | (1) |
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271 | (66) |
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7.1 Belousov-Zhabotinskii Chemical Reaction |
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272 | (13) |
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7.1.1 Location of Periodic Orbits |
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273 | (1) |
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274 | (4) |
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7.1.3 Topological Invariants |
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278 | (3) |
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281 | (1) |
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7.1.5 Dynamical Properties |
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282 | (1) |
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283 | (1) |
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283 | (2) |
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7.2 Laser with Saturable Absorber |
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285 | (3) |
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288 | (6) |
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7.3.1 Experimental Arrangement |
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288 | (2) |
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290 | (1) |
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291 | (1) |
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7.3.4 Topological Analysis |
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291 | (3) |
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7.4 Lasers with Low-Intensity Signals |
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294 | (3) |
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295 | (1) |
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7.4.2 Template Identification |
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296 | (1) |
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7.4.3 Results of the Analysis |
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297 | (1) |
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297 | (25) |
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7.5.1 Class B Laser Model |
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298 | (6) |
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7.5.2 CO2 Laser with Modulated Losses |
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304 | (4) |
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308 | (3) |
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7.5.4 Nd-Doped Fiber Laser |
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311 | (7) |
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7.5.5 Synthesis of Results |
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318 | (4) |
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7.6 The Laser in Zaragoza |
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322 | (6) |
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7.7 Neuron with Subthreshold Oscillations |
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328 | (6) |
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334 | (3) |
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337 | (20) |
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337 | (6) |
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338 | (1) |
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8.1.2 Stability of Fixed Points |
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339 | (1) |
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8.1.3 Bifurcation Diagram |
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339 | (2) |
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341 | (2) |
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8.1.5 Shimizu-Morioka Equations |
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343 | (1) |
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8.2 Optically Pumped Molecular Laser |
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343 | (9) |
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344 | (2) |
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346 | (1) |
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346 | (1) |
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347 | (3) |
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350 | (2) |
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352 | (2) |
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352 | (1) |
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353 | (1) |
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354 | (1) |
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354 | (3) |
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357 | (34) |
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9.1 Catastrophe Theory as a Model |
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357 | (5) |
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357 | (1) |
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358 | (1) |
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9.1.3 Reduction to a Germ |
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359 | (2) |
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361 | (1) |
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9.1.5 Summary of Concepts |
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362 | (1) |
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9.2 Unfolding of Branched Manifolds: Branched Manifolds as Germs |
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362 | (3) |
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362 | (1) |
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363 | (2) |
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9.3 Unfolding within Branched Manifolds: Unfolding of the Horseshoe |
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365 | (10) |
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9.3.1 Topology of Forcing: Maps |
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365 | (1) |
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9.3.2 Topology of Forcing: Flows |
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366 | (3) |
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369 | (2) |
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9.3.3.1 Orbits with Zero Entropy |
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371 | (1) |
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9.3.3.2 Orbits with Positive Entropy |
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372 | (1) |
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9.3.3.3 Additional Comments |
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372 | (2) |
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9.3.4 Basis Sets of Orbits |
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374 | (1) |
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375 | (1) |
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375 | (2) |
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377 | (1) |
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9.6 Orbit Forcing and Topological Entropy: Mathematical Aspects |
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378 | (5) |
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378 | (1) |
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9.6.2 Basic Mathematical Concepts |
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379 | (1) |
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9.6.2.1 Braids and Braid Types |
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379 | (1) |
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9.6.2.2 Braids and Surface Homeomorphisms |
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380 | (1) |
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9.6.2.3 Nielsen-Thurston Classification |
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381 | (1) |
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9.6.2.4 Application to Periodic Orbits and Braid Types |
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382 | (1) |
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9.7 Topological Measures of Chaos in Experiments |
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383 | (6) |
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383 | (2) |
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9.7.2 Chaos in an Optical Parametric Oscillator |
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385 | (4) |
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389 | (2) |
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391 | (38) |
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10.1 Information Loss and Gain |
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391 | (2) |
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391 | (1) |
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10.1.2 Exchange of Symmetry |
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392 | (1) |
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392 | (1) |
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10.1.4 Symmetries of the Standard Systems |
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392 | (1) |
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10.2 Cover and Image Relations |
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393 | (1) |
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393 | (1) |
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10.3 Rotation Symmetry 1: Images |
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394 | (6) |
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10.3.1 Image Equations and Flows |
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394 | (2) |
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10.3.2 Image of Branched Manifolds |
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396 | (2) |
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10.3.3 Image of Periodic Orbits |
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398 | (2) |
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10.4 Rotation Symmetry 2: Covers |
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400 | (4) |
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401 | (1) |
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10.4.2 Covers of Branched Manifolds |
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402 | (1) |
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10.4.3 Covers of Periodic Orbits |
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403 | (1) |
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10.5 Peeling: a New Global Bifurcation |
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404 | (3) |
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405 | (1) |
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10.5.2 Covering Equations |
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405 | (2) |
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10.6 Inversion Symmetry: Driven Oscillators |
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407 | (2) |
|
|
|
409 | (4) |
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10.8 Van der Pol Oscillator |
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|
413 | (5) |
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418 | (11) |
|
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429 | (8) |
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11.1 Stretching & Folding vs. Tearing & Squeezing |
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|
420 | (1) |
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|
421 | (1) |
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11.3 Boundary of Inflation |
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|
422 | (1) |
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|
423 | (1) |
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424 | (2) |
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11.6 Nature of Singularities |
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426 | (1) |
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|
427 | (2) |
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11.8 Poincare Surface of Section |
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|
429 | (1) |
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11.9 Construction of Canonical Forms |
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429 | (3) |
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432 | (3) |
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11.10.1 Enlarging Branches |
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|
433 | (1) |
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11.10.2 Starving Branches |
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433 | (2) |
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|
435 | (2) |
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12 Representation Theory for Strange Attractors |
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|
437 | (20) |
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12.1 Embeddings, Representations, Equivalence |
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|
438 | (1) |
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12.2 Simplest Class of Strange Attractors |
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|
439 | (1) |
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12.3 Representation Labels |
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440 | (6) |
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440 | (1) |
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441 | (4) |
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445 | (1) |
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12.4 Equivalence of Representations with Increasing Dimension |
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446 | (4) |
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447 | (1) |
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447 | (1) |
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448 | (2) |
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450 | (1) |
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12.6 Representation Labels |
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451 | (2) |
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|
451 | (1) |
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12.6.2 Multitorsion Index |
|
|
451 | (1) |
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|
452 | (1) |
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12.7 Equivalence in Increasing Dimension |
|
|
453 | (2) |
|
12.7.1 Parity and Knot Type |
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|
453 | (1) |
|
12.7.2 Multitorsion Index |
|
|
453 | (2) |
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|
455 | (2) |
|
13 Flows in Higher Dimensions |
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|
457 | (36) |
|
13.1 Review of Classification Theory in R3 |
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|
457 | (2) |
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459 | (3) |
|
13.2.1 Spectrum of Lyapunov Exponents |
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|
459 | (2) |
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461 | (1) |
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462 | (4) |
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13.3.1 Cyclic Phase Spaces |
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|
462 | (1) |
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13.3.2 Floppiness and Rigidity |
|
|
462 | (1) |
|
13.3.3 Singularities in Return Maps |
|
|
463 | (3) |
|
13.4 Cusps in Weakly Coupled, Strongly Dissipative Chaotic Systems |
|
|
466 | (4) |
|
13.4.1 Coupled Logistic Maps |
|
|
466 | (3) |
|
13.4.2 Coupled Diode Resonators |
|
|
469 | (1) |
|
13.5 Cusp Bifurcation Diagrams |
|
|
470 | (5) |
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|
472 | (1) |
|
13.5.2 Structure in the Control Plane |
|
|
472 | (2) |
|
13.5.3 Comparison with the Fold |
|
|
474 | (1) |
|
13.6 Nonlocal Singularities |
|
|
475 | (2) |
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|
475 | (2) |
|
13.7 Global Boundary Conditions |
|
|
477 | (4) |
|
13.8 From Braids to Triangulations: toward a Kinematics in Higher Dimensions |
|
|
481 | (9) |
|
13.8.1 Knot Theory in Three Dimensions and Beyond |
|
|
481 | (1) |
|
13.8.2 From Nonintersection to Orientation Preservation |
|
|
482 | (8) |
|
13.8.3 Singularities in Higher Dimensions |
|
|
490 | (1) |
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|
490 | (3) |
|
14 Program for Dynamical Systems Theory |
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|
493 | (20) |
|
14.1 Reduction of Dimension |
|
|
494 | (2) |
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|
496 | (1) |
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|
497 | (1) |
|
14.3.1 Reducibility of Dynamical Systems |
|
|
497 | (1) |
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|
498 | (2) |
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|
500 | (2) |
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|
502 | (1) |
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|
502 | (2) |
|
14.7.1 Stretching and Squeezing |
|
|
503 | (1) |
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|
|
504 | (1) |
|
14.9 Coxeter-Dynkin Diagrams |
|
|
504 | (2) |
|
|
|
506 | (1) |
|
14.11 Local vs. Global Classification |
|
|
507 | (1) |
|
14.12 Cover-Image Relations |
|
|
508 | (1) |
|
14.13 Symmetry Breaking and Restoration |
|
|
508 | (3) |
|
14.13.1 Entrainment and Synchronization |
|
|
509 | (2) |
|
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|
511 | (2) |
|
Appendix A Determining Templates from Topological Invariants |
|
|
513 | (28) |
|
A.1 The Fundamental Problem |
|
|
513 | (2) |
|
A.2 From Template Matrices to Topological Invariants |
|
|
515 | (1) |
|
A.2.1 Classification of Periodic Orbits by Symbolic Names |
|
|
515 | (1) |
|
A.2.2 Algebraic Description of a Template |
|
|
516 | (1) |
|
|
|
517 | (1) |
|
A.2.4 Relative Rotation Rates: Examples |
|
|
517 | (2) |
|
A.2.5 Relative Rotation Rates: General Case |
|
|
519 | (4) |
|
A.3 Identifying Templates from Invariants |
|
|
523 | (1) |
|
A.3.1 Using an Independent Symbolic Coding |
|
|
524 | (3) |
|
A.3.2 Simultaneous Determination of Symbolic Names and Template |
|
|
527 | (4) |
|
A.4 Constructing Generating Partitions |
|
|
531 | (1) |
|
A.4.1 Symbolic Encoding as an Interpolation Process |
|
|
531 | (4) |
|
A.4.2 Generating Partitions for Experimental Data |
|
|
535 | (1) |
|
A.4.3 Comparison with Methods Based on Homoclinic Tangencies |
|
|
536 | (2) |
|
A.4.4 Symbolic Dynamics on Three Symbols |
|
|
538 | (1) |
|
|
|
539 | (2) |
|
|
|
541 | (24) |
|
|
|
541 | (2) |
|
|
|
543 | (1) |
|
|
|
543 | (2) |
|
|
|
545 | (2) |
|
B.2.3 Just the Right Amount of Data |
|
|
547 | (1) |
|
|
|
547 | (2) |
|
B.4 Tests of Embedding Tests |
|
|
549 | (1) |
|
|
|
549 | (1) |
|
B.5 Geometric Tests for Embeddings |
|
|
550 | (1) |
|
B.5.1 Fractal Dimension Estimation |
|
|
550 | (3) |
|
B.5.2 False Near Neighbor Estimates |
|
|
553 | (1) |
|
B.6 Dynamical Tests for Embeddings |
|
|
554 | (1) |
|
B.7 Topological Test for Embeddings |
|
|
555 | (2) |
|
B.8 Postmortem on Embedding Tests |
|
|
557 | (1) |
|
|
|
557 | (1) |
|
|
|
557 | (1) |
|
|
|
558 | (1) |
|
|
|
559 | (1) |
|
|
|
560 | (1) |
|
|
|
560 | (1) |
|
B.8.7 The Self-Intersection Problem |
|
|
561 | (1) |
|
B.8.8 Reliability and Limitations |
|
|
561 | (1) |
|
|
|
562 | (1) |
|
|
|
563 | (1) |
|
|
|
563 | (2) |
|
Appendix C Frequently Asked Questions |
|
|
565 | (4) |
|
C.1 Is Template Analysis Valid for Non-Hyperbolic Systems? |
|
|
565 | (1) |
|
C.2 Can Template Analysis Be Applied to Weakly Dissipative Systems? |
|
|
566 | (1) |
|
C.3 What About Higher-Dimensional Systems? |
|
|
567 | (2) |
| References |
|
569 | (12) |
| Index |
|
581 | |