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Journal of Algebra Combinatorics Discrete Structures and Applications

Some properties of topological pressure on cellular

automata

Research Article

Chih-Hung Chang

∗∗

Department of Applied Mathematics, National University of Kaohsiung, Kaohsiung 700, Taiwan, ROC

Abstract: This paper investigates the ergodicity and the power rule of the topological pressure of a cellular automaton. If a cellular automaton is either leftmost or rightmost permutive (due to the terminology given by Hedlund [Math. Syst. Theor. 3, 320-375, 1969]), then it is ergodic with respect to the uniform Bernoulli measure. More than that, the relation of topological pressure between the original cellular automaton and its power rule is expressed in a closed form. As an application, the topological pressure of a linear cellular automaton can be computed explicitly.

2010 MSC:37B10

Keywords: Cellular automata, Permutive, Ergodicity, Topological pressure

1.

Introduction

Let A = {0,1, . . . , υ −1} for some υ ≥ 2, and let X = AZ be the space of infinite sequences

x= (xi)i∈Z. A continuous mapF :X →X satisfyingF◦σ=σ◦F is called a cellular automaton (CA),

where σis the shift map defined byσ(x)i=xi+1, i∈Z. CA is a particular class of dynamical systems

introduced by S. Ulam [21] and J. von Neumann [23] as a model for self-production. It is widely studied in a variety of contexts in physics, biology and computer science [6,7, 10, 12,16,20,22,26,27].

Greenberg and Hastings [13] transfer a reaction-diffusion equation into a CA and demonstrate that such a simplified model can still generate spatial-temporal structures similar to the original system [11–

13]. In1976, Hardy et al. [14] proposed the so-called HPP model for the study of hydrodynamics. Notably, this model is a CA.

Since CA is widely applied in physics, it is also interesting to consider the role thermodynamics plays in CA. The second law of thermodynamics says that the entropy of a system and its surroundings (universe) do not decrease. However, this encounters with a paradox to Poincaré Recurrence Theorem.

This work is partially supported by the Ministry of Science and Technology, ROC (Contract No MOST 103-2115-M-390-004-).

∗∗

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To overcome this difficulty, L. Boltzmann introduces “Ergodic Hypothesis". Reader may refer to [17]. This leads to the development of ergodic theory.

This elucidation studies two properties of CA. The first part investigates the ergodic property of CA. Then the second part gives an application for ergodic CA by demonstrating the power rule of topological pressure of CA.

One-dimensional CA consists of infinite lattice with finite states and an associated mapping, say local rule. A systematic study of CA from purely mathematical point of view is discussed by Hedlund [15]. He treats CA as a particular class of symbolic dynamics and discovers that a permutive CA (defined later) implements many phenomena such as surjection. From the viewpoint of ergodic theory, it is interesting to investigate whether a CA is surjective or not since a surjective CA preserves the uniform Bernoulli measure [9]. Shereshevsky [18] demonstrates more ergodic properties for permutive CA, such as mixing, Bernoulli automorphism, Kolmogorov automorphism, and so on. He also defines the power rule of a CA and figures out many properties are preserved. Read is referred to Akın’s works [1, 2] for more results.

Shereshevsky and Rogers [19] conjecture that every surjective CA, except those of the formF xi =

kxi, where g.c.d.(k, υ) = 1, is ergodic with respect to the uniform Bernoulli measure. This conjecture

does not hold in general. A counterexample is discussed in Section 3.

The first result of this paper is, if a CA is permutive, then it is ergodic. Besides, the permutivity of CA is necessary for the ergodicity for a particular class of CA. Using this property, the power rule of topological pressure of CA can be expressed in a closed form.

ForT : Ω→Ωa continuous transformation defined on a compact metric space, it is well-known that the power rule of topological entropy of T satisfyinghtop(Tn) = nhtop(T) for alln ∈N. If, moreover,

(Ω,B, µ) is a probability space and T : Ω → Ω is also a measure-preserving transformation. Then hµ(Tn) = nhµ(T) for all n ∈ N, where hµ(T) is the measure-theoretic entropy of T. Also, for the

topological pressure of T,P(T,·) :C(Ω,R)→R, there is a similar expression

P(Tn, Sng) =nP(T, g), whereSng= n−1

X

i=0

g◦Ti.

In [5], the authors investigated the topological pressure of permutive CA. Theorem 4.4 indicates that, ifF is a permutive CA, then the topological pressure ofF and itsnth power rule can be presented in a closed form:

P(Fn, g) =nP(F, g)−(n−1) Z

g dµ, (1)

forgcontinuous function,n∈N. Notably, this expression does not hold in general. A counterexample is

studied in Section 4. As an application, the topological pressure of linear CA can be formulated rigorously (cf. [3]), which extends our previous result [4].

The materials of this elucidation are organized as follows. Section 2 states some definitions and notations. Section 3 investigates the sufficient condition for the ergodic CA, and figures out a necessary condition for the ergodicity for a particular class of CA. Section 4 studies the power rule of topological pressure of a CA. A closed expression is given via a strong generator.

2.

Preliminaries

Let A = {0,1, . . . , υ−1} be a finite alphabet and let X = AZ be the space of infinite sequence

x= (xn)∞−∞. Whenever a local rulef :A2k+1→ Ais given, there associates unique CA, sayF :X →X, defined by

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where

An ={a1a2· · ·an :ai∈ A,1≤i≤n}, n∈N.

For anym≥1,f can be extended to the mappingfm:A2k+m→ Amby

fm(x−k, . . . , xk+m−1) = (f(x−k, . . . , xk), . . . , f(x−k+m−1, . . . , xk+m−1)),

where f1=f. In addition, the nth power rule off, denote byfn :A2nk+1→ A, is defined as

fn(x−nk, . . . , xnk) =f(fn−1(x−nk, . . . , x(n−1)k), . . . , fn−1(x−(n−2)k, . . . , xnk)),

forn≥1.

Hedlund [15] shows a necessary and sufficient condition for the surjection of a CA.

Proposition 2.1 ([15]). Consider F a CA with local rulef :A2k+1→ A. Then F is surjective if and

only ifcard f−1

m (y1, . . . , ym) = (cardA)2kfor allm∈Nand all(y1, . . . , ym)∈ Am, wherecard Sdenotes

the cardinality ofS.

The study of the local rule of a CA is essential for the understanding of this system. A particular class of local rules, say permutive, is initially introduced by Hedlund [15].

Definition 2.2. The local rule f : A2k+1 → A for a given CA is said to be leftmost (respectively

rightmost) permutive inxi if there exists an integer i,−k≤i≤ −1 (respectively1≤i≤k), such that

(i) for (y1, . . . , y2k)∈ A2k,g(xi)≡f(y1, . . . , y2k;xi) :A → A is a permutation;

(ii) f does not depend onxj forj < i (respectivelyj > i),

where x= (xj)kj=−k∈ A

2k+1.

Definition 2.3. The local rule f is called bipermutive if it is not only rightmost permutive but also leftmost permutive. f is called permutive if f is one of these three cases, i.e., f is either leftmost or rightmost or bipermutive.

Hedlund demonstrates a permutive CA is also surjective.

Proposition 2.4 ([15]). If f is permutive, then F is surjective.

It is easily verified that the permutivity is preserved by power rule.

Lemma 2.5. If f is permutive, then so is fn for all n

N. More precisely, fn preserves the type of

permutivity of f for alln∈N.

Proof. This follows immediately from the definition offn.

Example 2.6. Consider the alphabetA={0,1,2,3}and local rulef :A3→ Adefined by

f(x−1, x0, x1) = 2x−1+x1 mod 4.

Thenf is rightmost permutive.

Observe that the second and the third power rule of f are

f2:A5→ A, f2(x

−2, . . . , x2) =x2,

and

f3:A7→ A, f3(x

−3, . . . , x3) = 2x1+x3,

respectively. It comes by induction that

fn:A2n+1→ A, fn(x

−n, . . . , xn) =

xn, nis even;

2xn−2+xn, nis odd. (2)

Hence fn is rightmost permutive for alln

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Let(X,B, µ)be a probability space and letT :X →X be a measure-preserving transformation. T is called ergodic if the only elementsA∈ BwithT−1A=Asatisfyµ(A) = 0orµ(A) = 1. The following

theorem gives some equivalent conditions for the ergodicity ofT.

Theorem 2.7 ([24]). If T : X → X is a measure-preserving transformation of the probability space

(X,B, µ), then the following statements are equivalent:

(i) T is ergodic.

(ii) If g is measurable andg◦T =g a.e., then g is constant a.e.

(iii) For everyA, B ∈ Bwith µ(A)>0, µ(B)>0, there existsn∈Nsuch that µ(T−nA∩B)>0.

Define d:X×X→Rby

d(x, y) =

X

i=−∞

|xi−yi|

υ|i| , x, y∈X. (3)

It is easy to verify that dis a metric and(X, d)is a compact metric space.

Consider µ an invariant probability measure on (X, F). Let α and β be two finite measurable partitions of X, define

α∨β={A∩B:A∈α, B∈β}.

It is easily seen that α∨β is a refinement ofαandβ. We define the entropy of the partitionαby

Hµ(α) =−

X

A∈α

µ(A) logµ(A).

The entropy of the measure preserving transformationF with respect to the partitionαis given by

hµ(F, α) = lim n→∞

1

nHµ(

n−1

_

i=0

F−iα), (4)

reader may refer to [24] for the existence of the limit. And the measure-theoretic entropy ofF is defined by

hµ(F) = suphµ(F, α), (5)

where the supremum is taken over all finite measurable partitions ofX.

Let(X, F)be an endomorphism and letP be an open cover ofX. Set

H(P) = inf{logcardP}ˆ ,

where the infimum is taken over the set of finite subcovers Pˆ of P and cardA is the cardinality ofA. The topological entropy of the measure preserving transformationF with respect to the open coverP is defined by

h(F,P) = lim

n→∞

1

nH(

n−1

_

i=0

F−iP). (6)

For the existence of the limit, we refer reader to [24]. The topological entropy ofF is defined by

htop(F) = suph(F,P), (7)

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In addition, for αan open cover of X and φ∈C(X,R)a continuous function fromX toR, denote

by

pn(F, φ, α) = inf{

X

B∈β

sup

x∈B

e(Snφ)(x):β is a finite subcover of

n−1

_

i=0

F−iα},

where n∈NandSnφ=Pni=0−1φ◦Fi. Thenlimn→∞n1logpn(F, φ, α)exists [24]. For eachδ >0, define

P(F, φ, δ) = sup{ lim

n→∞

1

nlogpn(F, φ, α) :diam(α)≤δ}, (8)

and

P(F, φ) = lim

δ→0P(F, φ, δ). (9)

The mapP(F,·) :C(X,R)→R∪ {∞}is called the topological pressure ofF. It comes immediately that

P(F,0) =htop(F).

3.

Ergodicity on Permutive Cellular Automata

This section studies the ergodicity of permutive CA. For simplicity, a local rule f : A2k+1 → Ais

presumed thatf only depends onxi,r≤i≤s, for some r≤s,r, s∈Z.

In the rest of this elucidation, we referµto the uniform Bernoulli measure unless otherwise stated.

Theorem 3.1. Iff is permutive, thenF is ergodic.

Proof. It suffices to show that F is ergodic iff is rightmost permutive. The case thatf is leftmost permutive can be demonstrated via the same argument, thus is omitted.

Denote byC(i, j) =i[ai, . . . , aj]ja cylinder ofX, i.e., for allx= (xn)∈X,xn=an, wherei≤n≤j

andi≤j. First we show that, for any two cylinderC(i, j) =i[ci, . . . , cj]j, D(m, l) =m[dm, . . . , dl]l, there

exists N∈Nsuch thatµ(F−NC(i, j)D(m, l))>0, where ij, ml.

Without loss of generality, we may assume thatr= 0. The case thatr6= 0can be done analogously. We construct a scheme to demonstrate the ergodicity ofF.

Since f is rightmost permutive, it comes immediately that F−nC(i, j) is a collection of cylinders

E(i, j+ns)with cardinalitycard F−nC(i, j) =νns, forn

N. Therefore, ifl < iorj < m−s, then the

permutivity off demonstrates thatµ(F−1C(i, j)∩D(m, l))>0.

If m ≤ i ≤ l ≤ j. Let α ∈ Z+ be the smallest number such that l +αi is a multiple of s,

say l+α−i = τ s for some τ ∈ N. Pick D0(m, l+α) = m[dm, . . . , dl,0, . . . ,0]l+α ≡ [dm, . . . , dl+α] a

subcylinder ofD(m, l). Defineκ1,1, . . . , κ1,s, κ2,1, . . .by

κ1,`=fτ−1(di+`−1, . . . , di+`+(τ−1)s−1), 1≤`≤s,

κ2,`=fτ−2(di+`−1, . . . , di+`+(τ−2)s−1), 1≤`≤2s,

.. .

κτ−1,`=f(di+`−1, . . . , di+`+s−1), 1≤`≤(τ−1)s.

Since f is rightmost permutive, there exist unique β1,1, . . . , β1,j−i+1 such that F([κ1,1, . . . , κ1,s, β1,1,

. . . , β1,j−i+1]) =C(i, j), i.e.,

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Similarly, there exist uniqueβ2,1, . . . , β2,j−i+1 such that

F([κ2,1, . . . , κ2,2s, β2,1, . . . , β2,j−i+1]) =E1,

i.e.,

E2≡i[κ2,1, . . . , κ2,2s, β2,1, . . . , β2,j−i+1]j+2s⊂F−1E1⊂F−2C(i, j).

Inductively we can conclude that D0(m, l+α)F−τC(i, j). This impliesµ(F−τC(i, j)D(m, l))>0.

The other cases, such asm≤i≤j ≤l,i≤m≤j ≤l, and so on, can be done analogously. Hence, for any two cylinders C(i, j)andD(m, l), there existsN ∈Nsuch thatµ(F−1C(i, j)D(m, l))>0.

For any two measurable sets A, B with positive measure and >0, there exist two collections of pairwise disjoint cylinders A1, . . . , Am,B1, . . . , Bl such that

(i) ∪Ai⊆Aand∪Bj ⊆B;

(ii) µ(A\ ∪Ai)< andµ(B\ ∪Bj)< .

It can be easily verified that the permutivity ofF asserts F−1Ai∩F−1Aj =∅andF−1Bi∩F−1Bj=∅

for alli6=j. Moreover,

F−nA∩B⊇(F−n(∪Ai))∩(∪Bj) =∪i,j(F−nAi∩Bj),

for alln∈N. Therefore, there existsN ∈Nsuch thatµ(F−NA∩B)>0.

The proof is completed.

Example 3.2. ForA={0,1, . . . , ν−1},ν ≥2. Letσ:AZ→ AZbe the shift map. Thenσis rightmost

permutive.

It is easy to see that σ is ergodic. For any two distinct cylinders C(i, j) and D(m, l), where i ≤ j, m≤l. There existsn∈Nsuch thati+n > l. Thusσ−nC(i, j)∩D(m, l) =C(i+n, j+n)∩D(m, l)

is of positive measure. That is,σis ergodic.

Example 3.3 (Continued). In Example 2.6, we consider the alphabet A = {0,1,2,3} and local rule f :A3→ Adefined by

f(x−1, x0, x1) = 2x−1+x1 mod 4.

Moreover,

fn:A2n+1→ A, fn(x−

n, . . . , xn) =

xn, nis even;

2xn−2+xn, nis odd. (10)

It is easily seen that ifFnis ergodic for somen

N, then so isF. For allk∈N,f2k(x−2k, . . . , x2k) =

x2k. This indicatesF2k is kind of a “multiple-shift map", thus is ergodic. Therefore,F is ergodic.

If the cardinality of states Ais a prime, then every additive CA is permutive except for those local rules of the formf :A → A, f(x) =αx for some0≤α≤p−1, wherecard A=p.

There is an example that,f is permutive inx0but not ergodic since f is not rightmost permutive.

Proposition 3.4. Consider A={0,1} and local rulef :A3→ Adefined by

f(x0, x1, x2) =x0+x1(x2+ 1) mod 2.

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Proof. It comes from [8] thatF is not topologically transitive. Therefore,F is not ergodic.

However, the assumption of permutivity is the necessary condition for the ergodicity in a particular class of CA.

Proposition 3.5. Consider A={0,1, . . . , ν−1} andF a CA satisfying the following conditions:

(i) f is additive, i.e.,f :A2k+1→ Acan be represented as f(x

−k, . . . , xk) =P k

i=−kaixi.

(ii) There exists unique`,−k≤`≤k, such that a`= 1.

(iii) If f only depends on xi, r ≤ i ≤ s, for some −k ≤ r ≤ s ≤ k, then g.c.d.(am, ν) > 1 for

r < m < s, m6=`.

ThenF is ergodic if and only iff is either leftmost or rightmost permutive.

Proof. It suffices to show that, iff is neither leftmost nor rightmost permutive, thenF is not ergodic.

Writef(xr, . . . , xs) =P s

i=raixi. There existsκ∈N, κ6= 0 modν, such thatκai = 0 modν for

alli6=`. Then

κF(x)j=κ s

X

i=r

aixi+j=κxj+`.

Define

g:AZ

R byg(x) =

X

κxi,

it is easily seen thatg is measurable andg◦F =gonAZ. The fact thatgis not constant demonstrates

F is not ergodic.

This completes the proof.

Example 3.6. ConsiderA={0,1,2,3} and local rulef :A3→ Adefined by

f(x−1, x0, x1) = 2x−1+x0+ 2x1 mod 4.

Thenf is neither rightmost nor leftmost permutive.

Consider g : X → R defined by g(x) = 2x0. Then g is measurable and nonconstant, however,

g◦F =gfor allx∈X. This demonstrates F is not ergodic.

4.

The Topological Pressure of Power Rule of CA

This section investigates the topological pressure via a strong generator.

Consider (X, F)an endomorphism andξa finite cover ofX, we callξa strong generator if, for any δ >0, there existsN ∈Nsuch thatkWmi=0−1F

−iξk< δfor all mN, wherekAk denotes the diameter

ofA. In other words,ξis a strong generator if and only if

k

m−1

_

i=0

F−iξk→0, asn→ ∞.

For a, b∈Z,a≤b, denote by a[sa, . . . , sb]b ={x∈X :xa =sa, . . . , xb =sb} a cylinder inX and

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Lemma 4.1. Let f be permutive and letξ≡ξ(a, b) be a partition ofX fora≤b,a, b∈Z. Then ξ(a, b)

is a strong generator.

Proof. We show the case that f is rightmost permutive, the other cases can be done similarly.

Assume that f is rightmost permutive in xs and does not depend on xj for all j < r, where

r < s. Denote by C(i, j) =i[ai, . . . , aj]j a cylinder of X, i.e., for allx = (xm) ∈X, xm =am, where

i ≤ m ≤ j and i ≤ j. It is easy to verify that F−1A∩F−1B = ∅ since f is rightmost permutive.

Moreover, for any cylinder C(i, j), F−1C(i, j) ξ(i+r, j+s) with cardinality υs−r. In other words,

F−1ξ(a, b) =ξ(a+r, b+s).

Denote ξ≡ξ(a, b)for simplicity. It follows from the discussion above that

ξ∨F−1ξ=

ξ(a, b+s), 0≤r;

ξ(a+r, b+s), 0≥r. (11)

Inductively,

ξ∨F−1ξ∨ · · · ∨F−(m−1)ξ=

ξ(a, b+ (m−1)s), 0≤r;

ξ(a+ (m−1)r, b+ (m−1)s), 0≥r. (12)

This elucidates that

kξ∨F−1ξ∨ · · · ∨F−(m−1)ξk→0, asm→ ∞, i.e., ξis a strong generator.

The proof is completed.

Example 4.2 (Continued). Consider A and f same as given in Example 2.6. Pickξ(0) ={[0]0,[1]0,

[2]0,[3]0}the standard partition of X =AZ. Then

F−1[0]0={−1[0,·,0]1,−1[1,·,2]1,−1[2,·,0]1,−1[3,·,2]1},

F−1[1]0={−1[0,·,1]1,−1[1,·,3]1,−1[2,·,1]1,−1[3,·,3]1},

F−1[2]0={−1[0,·,2]1,−1[1,·,0]1,−1[2,·,2]1,−1[3,·,0]1},

F−1[3]0={−1[0,·,3]1,−1[1,·,1]1,−1[2,·,3]1,−1[3,·,1]1}.

It follows that

(i) F−1[i]0∩F−1[j]0=∅fori6=j;

(ii) for0≤i≤3,A∩B=∅forA6=B, A, B∈F−1[i]0;

(iii) F−1ξ(0) =ξ(1,1).

It is easily verified that

n−1

_

i=0

F−iξ(0) =ξ(−(n−1), n−1), and k

n−1

_

i=0

F−iξ(0)k→0,

as n→ ∞. In other words,ξ(0)is a strong generator. In addition, it can be checked without difficulty that ξ(a, b)is a strong generator fora≤b.

It is well-known that htop(Fn) =nhtop(F)and P(Fn, Sng) =nP(F, g)for all n∈N, whereSng =

Pn−1

i=0 g◦F

i andgC(X,

R)[24]. There is an intuitive connection betweenFn and thenth power rule

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Lemma 4.3. Consider a CA F with local rulef. Then thenth power rule ofF,Fn, is a CA with local

rule fn forn

N.

Proof. This comes from the definition ofFn andfn, thus is omitted.

The main theorem of this section then follows.

Theorem 4.4. Consider F a CA with permutive local rule f. The topological pressure of Fn can be

expressed as

P(Fn, g) =nP(F, g)−(n−1) Z

X

g dµ, (13)

for all n∈N,g∈C(X,R).

Theorem 3.1 shows that, for a CA F with the local rule f, if f is permutive, then F is ergodic. Therefore, there is an immediate consequence comes from Birkhoff Ergodic Theorem.

Lemma 4.5. Considerg∈C(X,R). For any >0, there existsN ∈Nsuch that for`≥N, |sup

x∈A

S`g(x)−sup x∈B

S`g(x)|< `,

for any two disjoint measurable set A, B, whereS`g=P `−1

i=0g◦Fni.

Proof. The permutivity of f implies fn is permutive, thusFn is ergodic. Birkhoff Ergodic Theorem

demonstrates that 1`S`gconverges a.e. to a function¯g and¯g=

R

Xg dµ is constant a.e.

The proof is completed.

Proof of Theorem 4.4. ξis a strong generator implies that

P(Fn, g) = lim

m→∞

1

mlogpm(F

n, g, ξ),

forg∈C(X,R). Same discussion as in the proof of Lemma4.1indicates that

m−1

_

i=0

F−niξ=

ξ(a, b+ (m−1)ns), 0≤r; ξ(a+ (m−1)nr, b+ (m−1)ns), 0≥r.

and

card

m−1

_

i=0

F−niξ=

υb−a+1+(m−1)ns, 0r;

υb−a+1+(m−1)n(s−r), 0r.

Hence

P(Fn, g) = lim

m→∞

1

mlogpm(F

n

, φ, ξ)

= lim

m→∞

1

mlog inf{

X

B

sup

x∈B

e(Smg)(x):B

m−1

_

i=0

F−niξ}

= lim

m→∞

1

mlog

υb−a+1+(m−1)nse(Smg), 0r; υb−a+1+(m−1)n(s−r)e(Smg), 0r.

=

nslogυ+RXg dµ, 0≤r; n(s−r) logυ+R

Xg dµ, 0≥r.

by Lemma4.5.

It is easily seen thatP(Fn, g) =nP(F, g)(n1)R

Xg dµ.

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Example 4.6 (Continued). LetA andf same as in Example2.6. Replace n by1 in the proof above, we have

P(F, g) = 2 log 4 + Z

X

g dµ,

and

P(Fn, g) = 2nlog 4 + Z

X

g dµ.

Hence P(Fn, g) =nP(F, g)−(n−1)RXg dµfor alln∈N.

Furthermore, Ward [25] shows thathtop(F) = 2 log 4. This implies

P(Fn, g) =nhtop(F) +

Z

X

g dµ=htop(Fn) +

Z

X

g dµ.

Notably, Theorem 4.4fails if the permutivity ofF is omitted.

Proposition 4.7. Consider F a CA with local rule

f :A2k+1→ A, defined byf(x−k, . . . , fk) =κx0,

where 0≤κ≤υ−1. ThenP(Fn, g) = 0for all n∈N, g∈C(X,R).

Proof. It can be easily verified thatF is not permutive.

Ifκ= 0, it comes immediately thatP(Fn, g) = 0for alln

N, g∈C(X,R). It remains to show the

casesκ6= 0.

For n ∈ N and ξ(a, b) a partition of X, where a ≤ b. Since f(x−k, . . . , xk) = κx0, we have

Wm−1

i=0 F−

niξ(a, b) =ξ(a, b). This impliesP(Fn, g) = 0for anygC(X,

R).

The proof is completed.

Acknowledgment

The author wishes to express his gratitude to the anonymous referees. Their comments make a significant improvement to this paper.

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References

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