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where the subscript n
denotes the time step and the rate of change
is assumed to be continuous for small changes in time dt,
an assumption based on Newtonian continuum dynamics. The successive
values of X are then computed iteratively, a process known
as numerical integration. The prediction equation for the variable X
has intrinsic error feedback loop since the value of X at
each step is a function of its earlier value in such numerical integration
computational techniques. The fundamental (basic) error in numerical computations
is the round-off error of finite precision computations. Blank (1994 References
) mentions that when solving differential or other dynamical systems on
a computer, the effects of finiteness (round-off) can sometimes be very
drastic. When we work with fixed precision system, not all real numbers
are even representable and arithmetic does not have the properties that
we are used to (Corless et.al.,1990). Lorenz (1989 References
) has discussed chaotic behaviour when continuum equations are solved numerically
as difference equations. Climate modelling concepts has come under criticism
lately since uncertainty in input parameter values can give drastically
different results (Kerr,1994). Mary Selvam (1993a References
) has shown that round-off error approximately doubles on an average at
each step of iteration. Such error doubling at each step in numerical integration
will result in the round-off error propagating into the mainstream (digits
place and above) computation within 50 iterations using single precision
(7th decimal place accuracy) digital computers. In addition,
any uncertainties in specifying the initial value of the variable X
will
also grow exponentially with time and give unrealistic solutions. Numerical
solutions are therefore sensitively dependent on initial conditions. Deterministic
governing equations, namely evolution equations such as Equation
2. which are precisely defined and mathematically formulated give chaotic
solutions because of sensitive dependence on initial conditions. Finite
precision computer realizations of nonlinear mathematical models of dynamical
systems therefore exhibit deterministic chaos. Computed model solutions
are therefore mere mathematical artifacts of the universal process of round-off
error growth in iterative computations (Mary Selvam,1997). Mary Selvam
(1993a References ) has shown that
the computed domain is the successive cumulative integration of round-off
error domains analogous to the formation of large eddy domains as envelopes
enclosing turbulent eddy fluctuation domains such as in atmospheric flows.
Computed solutions, therefore qualitatively resemble real world dynamical
systems such as atmospheric flows with manifestation of self-organized
criticality. Self-organized criticality, i.e., long-range
spatiotemporal correlations, originates with the primary perturbation domains
corresponding respectively to round-off error and dominant turbulent eddy
fluctuations in model and real world dynamical systems. Computed solutions,
therefore, are not true solutions. The vast body of literature investigating
chaotic trajectories in recent years (since 1980) document, only the round-off
error structure in finite precision computations. Stewart (1992b References
) mentions that in the absence of analytical (true) solutions the fidelity
of computed solutions is questionable. Historically, deterministic chaos
in computed solutions was identified nearly a century ago by Poincare
in his study of the three body problem (Poincare, 1892 References
). Lack of high speed computational machines precluded exhaustive studies
of nonlinear behavior and approximate linearized solutions of nonlinear
systems alone were studied. With the advent of electronic digital computers
in late 1950s, Lorenz (1963 References
) identified deterministic chaos in a simple model of atmospheric flows.
Lorenz's
result captured the attention of scientists in all branches of science
since a simple set of equations exhibits chaotic behaviour similar to the
complex, irregular (unpredictable) fluctuations exhibited by real world
dynamical systems. Till then it was believed that complex behavior results
from complexity in the governing parameters and the mathematical formulations.
Lorenz'smodel
demonstrated that simple models can demonstrate complex behavior of real
world dynamical systems.
The computed trajectory
is plotted graphically in phase space of dimension m where
mis
the number of variables representing the dynamical system. For example,
a particle in motion can be represented completely at any instant by its
position and momenta in the x, y and z directions,
i.e., 6-dimensional phase space. The line joining the successive points
in time gives the trajectory of the particle in phase space. The trajectory
traces the strange attractor , so named because of its strange
convoluted shape being the final destination of all trajectories in the
phase space. Two trajectories, initially close together diverge exponentially
with time though still within the strange attractor domain,
thereby exhibiting sensitive dependence on initial conditions or deterministic
chaos. The strange attractor exhibits selfsimilar fractal
geometry similar to the space-time fractal structure or self-organized
criticality exhibited by real world dynamical systems. Mary Selvam
(1993a References ) has shown that
the strange attractor has the quasicrystalline structure of the
quasiperiodic Penrose tiling pattern. There is a very close similarly
between the geometrical patterns generated during iterative computations
and those found in nature (Jurgen et al., 1990; Stewart,
1992a References ). Iterative computations
generate patterns strongly reminiscent of plant forms and clearly these
curious configurations show that the rules responsible for the construction
of elaborate living tissue structures could be absurdly simple (Dewdney,
1986 References ).
In summary, selfsimilar
space-time structures or self-organized criticality is ubiquitous
to dynamical systems in nature and also to mathematical models of dynamical
systems which incorporate finite precision iterative computations with
resultant feedback and magnification of round-off error primarily, in addition
to initial errors. Iterative computations result in the cumulative addition
(integration) of the progressively increasing round-off error. Persistent
perturbations, though small in magnitude are therefore capable of generating
complex space-time structures with fractal selfsimilar geometry
because of feedback with amplification.