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[[Image:Arnoldcatmap.svg|thumb|Picture showing how the linear map stretches the unit square and how its pieces are rearranged when the [[modulo operation]] is performed. The lines with the arrows show the direction of the contracting and expanding [[eigenspace]]s]]
 
In [[mathematics]], '''Arnold's cat map''' is a [[chaos theory|chaotic]] map from the [[torus]] into itself, named after [[Vladimir Arnold]], who demonstrated its effects in the 1960s using an image of a [[cat]], hence the name.<ref name="Arnold"/>
 
Thinking of the torus <math>\mathbb{T}^2</math> as the [[Quotient space (linear algebra)|quotient space]] <math>\mathbb{R}^2/\mathbb{Z}^2</math> Arnold's cat map is the transformation <math>\Gamma : \mathbb{T}^2 \to \mathbb{T}^2</math> given by the formula
 
:<math>\Gamma \, : \, (x,y) \to (2x+y,x+y) \bmod 1.</math>
 
Equivalently, in [[matrix (mathematics)|matrix]] notation, this is
 
:<math>\Gamma \left( \begin{bmatrix} x \\ y \end{bmatrix} \right) = \begin{bmatrix} 2 & 1 \\ 1 & 1 \end{bmatrix} \begin{bmatrix} x \\ y \end{bmatrix} \bmod 1 = \begin{bmatrix} 1 & 1 \\ 0 & 1 \end{bmatrix} \begin{bmatrix} 1 & 0 \\ 1 & 1 \end{bmatrix} \begin{bmatrix} x \\ y \end{bmatrix} \bmod 1.</math>
 
That is, with a unit size equal to the width of the square image, the image is [[Shear mapping|sheared]] one unit up, then one unit to the right, and all that lies outside that unit square is shifted back by the unit until it's within the square.
 
==Properties==
* Γ is [[invertible function|invertible]] because the matrix has [[determinant]] 1 and therefore its [[Integer_matrix#Properties|inverse has integer entries]],
* Γ is [[Measure-preserving dynamical system|area preserving]],
* Γ has a unique [[hyperbolic fixed point]] (the [[Vertex (geometry)|vertices]] of the square). The linear transformation which defines the map is hyperbolic: its [[eigenvalue]]s are irrational numbers, one greater and the other smaller than 1 (in absolute value), so they are associated respectively to an expanding and a contracting [[eigenspace]] which are also the [[stable manifold|stable and unstable manifolds]]. The eigenspace are orthogonal because the matrix is [[symmetric matrix|symmetric]]. Since the eigenvectors have [[rational dependence|rationally independent]] components both the eigenspaces [[dense set|densely]] cover the torus.  Arnold's cat map is a particularly well-known example of a ''[[hyperbolic]] toral automorphism'', which is an [[automorphism]] of a [[torus]] given by a square [[unimodular matrix]] having no [[eigenvalues]] of absolute value 1.<ref name="Franks"/>
* The set of the points with a [[periodic orbit]] is [[dense set|dense]] on the torus. Actually a point is preperiodic if and only if its coordinates are [[rational number|rational]].
* Γ is [[Topological transitivity|topologically transitive]] (i.e. there is a point whose orbit is [[dense set|dense]], this happens for example for any points on the expanding [[eigenspace]])
* The number of points with period ''n'' is exactly |λ<sub>1</sub><sup>''n''</sup>&nbsp;+&nbsp;λ<sub>2</sub><sup>''n''</sup>&minus;2| (where λ<sub>1</sub> and λ<sub>2</sub> are the eigenvalues of the matrix). For example, the first few terms of this series are 1, 5, 16, 45, 121, 320, 841, 2205 ....<ref>{{SloanesRef|sequencenumber=A004146}}</ref> (The same equation holds for any unimodular hyperbolic toral automorphism if the eigenvalues are replaced.)
* Γ is [[ergodic]] and [[Mixing (physics)|mixing]],
* Γ is an [[Anosov diffeomorphism]] and in particular it is [[Structural stability|structurally stable]].
 
== The discrete cat map ==
[[Image:Arnold cat.png|right|frame|From order to chaos and back.
Sample mapping on a picture of 150x150 pixels. The numbers shows the
iteration step. After 300 iterations arriving at the original image]]
[[File:Arnold's Cat Map animation (74px, zoomed, labelled).gif|right|frame|Sample mapping on a picture of a pair of cherries. The image is 74 pixels wide, and takes 114 iterations to be restored, although it appears upside-down at the halfway point.]]
 
It is possible to define a discrete analogue of the cat map. One of this map's features is that image being apparently randomized by the transformation but returning to its original state after a number of steps. As can be seen in the picture to the right, the original image of the cat is [[shear mapping|sheared]] and then wrapped around in the first iteration of the transformation. After some iterations, the resulting image appears rather [[randomness|random]] or disordered, yet after further iterations the image appears to have further order—ghost-like images of the cat, multiple smaller copies arranged in a repeating structure and even upside-down copies of the original image—and ultimately returns to the original image.
 
The discrete cat map describes the [[phase space]] flow corresponding to the discrete dynamics of a bead hopping from site ''q''<sub>t</sub> (0 ≤ ''q''<sub>t</sub> < N) to site ''q''<sub>t+1</sub> on a circular ring with circumference ''N'', according to the [[second order equation]]:
 
:<math>q_{t+1} - 3q_{t} + q_{t-1} = 0 \mod N</math>
 
Defining the momentum variable ''p''<sub>t</sub> = ''q''<sub>t</sub> - ''q''<sub>t-1</sub>, the above second order dynamics can be re-written as a mapping of the square 0 ≤ ''q'', ''p'' < ''N'' (the [[phase space]] of the discrete dynamical system) onto itself:
 
:<math>q_{t+1} = 2q_{t} + p_{t} \mod N</math>
:<math>p_{t+1} = q_{t} + p_{t} \mod N</math>
 
This Arnold cat mapping shows [[mixing (physics)|mixing]] behavior typical for chaotic systems. However, since the transformation has a [[determinant]] equal to unity, it is [[area-preserving maps|area-preserving]] and therefore [[invertible function|invertible]] the inverse transformation being:
 
:<math>q_{t-1} = q_{t} - p_{t} \mod N</math>
:<math>p_{t-1} = -q_{t} + 2p_{t} \mod N</math>
 
For real variables ''q'' and ''p'', it is common to set ''N'' = 1. In that case a mapping of the unit square with periodic boundary conditions onto itself results.
 
When N is set to an integer value, the position and momentum variables can be restricted to integers and the mapping becomes a mapping of a toroidial square grid of points onto itself. Such an integer cat map is commonly used to demonstrate [[mixing (physics)|mixing]] behavior with [[Poincaré recurrence theorem|Poincaré recurrence]] utilising digital images. The number of iterations needed to restore the image can be shown never to exceed 3N.<ref name="DysonFalk"/>
 
For an image, the relationship between iterations could be expressed as follows:
 
:<math>
\begin{array}{rrcl}
n=0: \quad  &  T^0 (x,y) &= & \mbox{Input Image}(x,y) \\
n=1: \quad  &  T^1 (x,y) &= & T^0 \left( \bmod(2x+y, N), \bmod(x+y, N) \right) \\
& &\vdots \\
n=k: \quad  &  T^k (x,y) &= & T^{k-1} \left( \bmod(2x+y, N), \bmod(x+y, N) \right) \\
& &\vdots \\
n=m: \quad  & \mbox{Output Image}(x,y) &=& T^m (x,y)
\end{array}
</math>
 
==See also==
{{Portal|Mathematics}}
* [[List of chaotic maps]]
* [[Recurrence plot]]
 
==References==
<references>
<ref name="Arnold">{{Fr icon}} {{cite book
  | author= [[Vladimir I. Arnold]]
  | coauthors=A. Avez
  | title=Problèmes Ergodiques de la Mécanique Classique
  | location=Paris
  | publisher=Gauthier-Villars
  | year=1967}};
'''English translation:''' {{cite book
  |author=V. I. Arnold
  |coauthors=A. Avez
  |title=Ergodic Problems in Classical Mechanics
  |location=New York
  |publisher=Benjamin
  |year=1968
}}</ref>
<ref name="Franks">{{cite journal
  | last1      = Franks
  | first1      = John M
  | title      = Invariant sets of hyperbolic toral automorphisms
  | journal    = American Journal of Mathematics
  | volume      = 99
  | issue      = 5
  |date=October 1977
  | pages      = 1089&ndash;1095
  | doi        = 10.2307/2374001
  | issn        = 0002-9327
  | publisher  = The Johns Hopkins University Press
}}</ref>
<ref name="DysonFalk">{{cite journal
  | title      = Period of a Discrete Cat Mapping
  | first1      = Freeman John
  | last1      = Dyson
  | authorlink1 = Freeman Dyson
  | first2      = Harold
  | last2      = Falk
  | journal    = The American Mathematical Monthly
  | volume      = 99
  | issue      = 7
  | year        = 1992
  | pages      = 603–614
  | issn        = 0002-9890
  | jstor        = 2324989
  | publisher  = Mathematical Association of America
}}</ref>
</references>
 
==External links==
*{{MathWorld|urlname=ArnoldsCatMap|title=Arnold's Cat Map}}
*[http://www.mpipks-dresden.mpg.de/mpi-doc/kantzgruppe/wiki/projects/Recurrence.html Effect of randomisation of initial conditions on recurrence time]
* [http://demonstrations.wolfram.com/ArnoldsCatMap/ Arnold's Cat Map] by Enrique Zeleny, [[The Wolfram Demonstrations Project]].
 
{{Chaos theory}}
 
{{DEFAULTSORT:Arnold's Cat Map}}
[[Category:Chaotic maps]]
[[Category:Exactly solvable models]]

Revision as of 19:04, 7 January 2014

Picture showing how the linear map stretches the unit square and how its pieces are rearranged when the modulo operation is performed. The lines with the arrows show the direction of the contracting and expanding eigenspaces

In mathematics, Arnold's cat map is a chaotic map from the torus into itself, named after Vladimir Arnold, who demonstrated its effects in the 1960s using an image of a cat, hence the name.[1]

Thinking of the torus as the quotient space Arnold's cat map is the transformation given by the formula

Equivalently, in matrix notation, this is

That is, with a unit size equal to the width of the square image, the image is sheared one unit up, then one unit to the right, and all that lies outside that unit square is shifted back by the unit until it's within the square.

Properties

The discrete cat map

From order to chaos and back. Sample mapping on a picture of 150x150 pixels. The numbers shows the iteration step. After 300 iterations arriving at the original image
Sample mapping on a picture of a pair of cherries. The image is 74 pixels wide, and takes 114 iterations to be restored, although it appears upside-down at the halfway point.

It is possible to define a discrete analogue of the cat map. One of this map's features is that image being apparently randomized by the transformation but returning to its original state after a number of steps. As can be seen in the picture to the right, the original image of the cat is sheared and then wrapped around in the first iteration of the transformation. After some iterations, the resulting image appears rather random or disordered, yet after further iterations the image appears to have further order—ghost-like images of the cat, multiple smaller copies arranged in a repeating structure and even upside-down copies of the original image—and ultimately returns to the original image.

The discrete cat map describes the phase space flow corresponding to the discrete dynamics of a bead hopping from site qt (0 ≤ qt < N) to site qt+1 on a circular ring with circumference N, according to the second order equation:

Defining the momentum variable pt = qt - qt-1, the above second order dynamics can be re-written as a mapping of the square 0 ≤ q, p < N (the phase space of the discrete dynamical system) onto itself:

This Arnold cat mapping shows mixing behavior typical for chaotic systems. However, since the transformation has a determinant equal to unity, it is area-preserving and therefore invertible the inverse transformation being:

For real variables q and p, it is common to set N = 1. In that case a mapping of the unit square with periodic boundary conditions onto itself results.

When N is set to an integer value, the position and momentum variables can be restricted to integers and the mapping becomes a mapping of a toroidial square grid of points onto itself. Such an integer cat map is commonly used to demonstrate mixing behavior with Poincaré recurrence utilising digital images. The number of iterations needed to restore the image can be shown never to exceed 3N.[4]

For an image, the relationship between iterations could be expressed as follows:

See also

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  • Effect of randomisation of initial conditions on recurrence time
  • Arnold's Cat Map by Enrique Zeleny, The Wolfram Demonstrations Project.

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