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Amplitude mediated spiral chimera pattern in a nonlinear reaction-diffusion system

Srilena Kundu1    Paulsamy Muruganandam2    Dibakar Ghosh1 diba.ghosh@gmail.com    M. Lakshmanan3 1Physics and Applied Mathematics Unit, Indian Statistical Institute, 203 B. T. Road, Kolkata-700108, India
2Department of Physics, Bharathidasan University, Tiruchirapalli-620024, India
3Department of Nonlinear Dynamics, School of Physics, Bharathidasan University, Tiruchirapalli-620024, India
Abstract

Formation of diverse patterns in spatially extended reaction-diffusion systems is an important aspect of study which is pertinent to many chemical and biological processes. Of special interest is the peculiar phenomenon of chimera state having spatial coexistence of coherent and incoherent dynamics in a system of identically interacting individuals. In the present article, we report the emergence of various collective dynamical patterns while considering a system of prey-predator dynamics in presence of a two-dimensional diffusive environment. Particularly, we explore the observance of four distinct categories of spatial arrangements among the species, namely spiral wave, spiral chimera, completely synchronized oscillations, and oscillation death states in a broad region of the diffusion-driven parameter space. Emergence of amplitude mediated spiral chimera states displaying drifted amplitudes and phases in the incoherent subpopulation is detected for parameter values beyond both Turing and Hopf bifurcations. Transition scenarios among all these distinguishable patterns are numerically demonstrated for a wide range of the diffusion coefficients which reveal that the chimera states arise during the transition from oscillatory to steady state dynamics. Furthermore, we characterize the occurrence of each of the recognizable patterns by estimating the strength of incoherent subpopulations in the two-dimensional space.

pacs:
87.23.Cc, 05.45.Xt

I Introduction

Pattern formation in reaction-diffusion (RD) systems has been a crucial area of research since ages for chemists, biologists and physicists due to its substantial applications in understanding the processes associated with morphogenesis in biology pattern_form1 ; pattern_form2 . After the discovery of the origination of pattern formation in RD systems by Alan Turing turing , such models have been studied extensively to elucidate biological patterns bio_pattern1 ; bio_pattern2 ; bio_pattern3 in shell, animal pigmentation, fish skin, and chemical processes such as the Belousov-Zhabotinsky reaction bz , etc. Pattern formation in ecology eco_pattern1 ; eco_pattern2 ; eco_pattern3 ; eco_pattern4 ; eco_pattern5 ; eco_pattern6 ; eco_pattern7 ; eco_pattern8 , especially in the study of prey-predator systems has received significant attention among the mathematical biologists to unravel the spatiotemporal behavior of interacting species in an ecosystem.

Spatiotemporal patterns emerging in a system of interacting populations can be of either Turing or non-Turing types. Turing patterns, as discussed in the most celebrated paper of Turing turing , emerge due to the diffusion driven instability of the homogeneous equilibrium state which results in temporally stable and spatially inhomogeneous solutions of the RD system. On the other hand, spiral wave pattern is one example of the non-Turing patterns that is usually formed near the Hopf bifurcation boundary and emerges when the spatially uniform wave velocity gets locally disrupted. Spirals are predominantly present in many examples of complex systems and have widespread applicability in spatially extended systems of excitable or self-oscillatory units. They have been experimentally detected in several chemical processes such as Belousov-Zhabotinsky reaction bz1 , carbon monoxide oxidation on a platinum surface co , or in biological processes of aggregating slime molds slime , Gierer-Meinhardt model gm , etc. Moreover, they are also pertinent to several pathological and neuronal contexts, such as cardiac arrhythmia cardiac , human visual cortex cortex , hippocampal slices hippo , etc. Besides individual analysis of the patterns resulting from Turing or Hopf instabilities, there are also studies involving the simultaneous interaction of these two instabilities. On this note, Rovinsky and Menzinger turing-hopf reported that complex spatiotemporal patterns arise due to the nonlinear interaction between Hopf and Turing instabilities. Plenty of researchers explored spatially extended prey-predator systems considering diverse functional responses and reported the impact of Turing and Turing-Hopf instabilities turing-hopf1 ; turing-hopf2 ; turing-hopf3 ; turing-hopf4 ; turing-hopf5 ; turing-hopf6 .

Furthermore, the emergence patterns of synchronization among the interacting dynamical units in a large complex system has been the focus of research due to its omnipresence in different contexts of biology, ecology, physiology, technology, etc. synch . One of the most captivating phenomena that has been reported extensively in the last two decades is the emergence of hybrid chimera patterns consisting of both coherent and incoherent sub-populations. In the coherent region the dynamical variables follow a smooth profile whereas a random distribution of the variables is noticed in the incoherent region. Primarily observed by Kuramoto and Battogtokh kuramoto in a network of complex Ginzburg-Landau systems, later such states have been explored widely in a variety of systems with diverse interaction topologies. Chimera states are found in the presence of local chimera_local1 ; chimera_local2 ; chimera_local3 ; chimera_local4 , nonlocal chimera_nonlocal1 ; chimera_nonlocal2 ; chimera_nonlocal3 ; chimera_nonlocal4 ; chimera_nonlocal5 and global chimera_global1 ; chimera_global2 ; chimera_global3 ; chimera_global4 interactions among the oscillatory units of phase oscillators, neuron models, limit cycle oscillators and chaotic oscillators. Apart from theoretical studies, chimeras have been detected in several experimental investigations chimera_exp1 ; chimera_exp2 ; chimera_exp3 ; chimera_exp4 ; chimera_exp5 . These states are closely related to several pathological brain conditions epileptic , like epilepsy, schizophrenia, etc., and are pertinent to the phenomenon of unihemispheric slow-wave sleep unihemi , noticed in some aquatic animals and migratory birds.

Depending on the attributes of the spatiotemporal distribution of the constituting elements associated with a system of interacting identical dynamical units, chimera states are categorized as amplitude chimera amp_chim1 ; amp_chim2 ; amp_chim3 ; amp_chim4 , traveling chimera travel_chim1 ; travel_chim2 ; travel_chim3 , globally clustered chimera glob_clust , breathing chimera breathing1 ; breathing2 ; breathing3 , etc. In this regard, exploration on the emergence of amplitude mediated chimera state by Sethia et al. amc_prl ; amc_pre is noteworthy. These two articles reported for the first time the observance of amplitude mediated chimera states respectively in nonlocally and globally coupled oscillators. In contrast to classical chimera states, where the coherence-incoherence behaviors emerge depending on the phases of the constituents, in amplitude mediated chimera states amc1 ; amc2 both the amplitudes and the phases of the oscillators exhibit random distribution in the incoherent domain. Interestingly, the appearance of chimera states has also been explored in a population exhibiting steady state dynamics, which are termed as chimera death states amp_chim1 ; chim_dth1 ; chim_dth2 . Like chimera state, in chimera death state the group of oscillators is subdivided into coexisting domains of coherent and incoherent steady states. Besides chimera death, the interacting dynamical units can also exhibit the appearance of incoherent oscillation death states when the individual units of the coupled system populate randomly distributed multiple branches of inhomogeneous steady states. Most of the previous findings indicate the occurrence of such diverse collective phenomena in a network of coupled dynamical systems interacting through a nonlocal or a global coupling. However, they are yet to be observed in a spatially extended system coupled through local diffusion.

Again, in two-dimensional spatially extended reaction-diffusion systems nonlocality in the coupling induces spiral wave chimera states possessing phase randomized units in the spiral core enclosed by spiral arms containing phase locked units. Unfolding of such chimera patterns was first reported by Shima and Kuramoto shima in a three-component reaction-diffusion model where the presence of nonlocality in the coupling induced the anomalous spiral dynamics. Later, the appearance of such exotic chimera patterns was verified theoretically in a handful sw1 ; sw2 ; sw3 ; sw4 ; sw5 ; sw6 of RD and non-RD systems. Apart from these studies, there exist some experimental evidences sw7 ; sw8 ; sw9 which reveal the emergence of spiral chimera states in coupled Belousov-Zhabotinsky chemical oscillators.

However, all these explorations, whether in RD or non-RD systems, primarily focus on the type of coupling configuration among the interacting units for the development of spiral chimera states. Nonlocality among the coupled dynamical elements is believed to be the conventional way for generating such fascinating patterns. Though later, the authors of ref.sw_local reported that the spirals with a phase randomized core can indeed appear in locally coupled reaction-diffusion systems also, but the interacting population must be communicating indirectly through a diffusive environment. In contrast to this, recently in sw_epjst , the authors revealed the existence of anomalous spiral chimera structure in a two-component prey-predator RD system in the presence of both self- and cross-diffusion without considering any common diffusive medium.

In the present article, we uncover the development of multiple collective dynamics as well as the transition from spiral motion to chimeric spiral pattern mediated through the concurrence of Turing and Hopf instabilities of the considered RD system. Particularly, we investigate a two-component prey-predator model in the presence of Holling type III functional response where the species are allowed to diffuse over a two-dimensional landscape. Using linear stability analysis we derive the necessary parametric conditions for the Hopf and Turing bifurcations, which play crucial role in forming patterns in RD systems. We mainly focus on the parameter space where the spatially homogeneous steady states of the population dynamics model become unstable in the presence of both Hopf instability as well as Turing instability. Coherent stationary spirals emanate beyond the Hopf bifurcation boundary in an extensive region of the parametric domain. In aquatic species communities, emergence of spiral patterns can be related with the existence of dipole-like structure in the plankton distribution which is formed due to the rotary motions of the plankton patches in the ocean plankton_siam . Spiral waves are also observed in host-parasitoid systems. Besides numerical simulation results, we also succeed to derive the linear amplitude equation in order to describe the formation of spiral patterns and validate the results analytically. The interaction between the oscillatory dynamics appearing due to Hopf bifurcation and the inhomogeneous stationary states formed due to Turing bifurcation combine to result in some complex spatiotemporal patterns which have been reported earlier turing-hopf1 ; turing-hopf2 ; turing-hopf3 . Here we reveal that the simultaneous interplay of both the instabilities for suitable choices of parameter values develops a randomized core inside the coherent spiral arm, resembling the structure of spiral chimera pattern. Such transition mechanism from coherent spiral motion to hybrid spiral chimera structure through the concurrence of Turing and Hopf instabilities in spatially extended RD systems has not been explored so far to the best of our knowledge. Moreover, we confirm that the coexistence of such coherence-incoherence pattern is not only observed in the phases but also in the amplitudes of the constituents, thereby resembling an amplitude mediated chimera state. We verify this pattern by calculating the finite time average of the individual dynamical units which reveals the drift in the average values of the incoherent subpopulation from that of the coherent subpopulation. However, aside from various spiral dynamics we also notice the occurrence of several steady state dynamics, such as the coexistence of spatially coherent-incoherent oscillation death states termed as chimera death states and the existence of spatially incoherent oscillation death states. In addition, completely synchronized temporal oscillations are also detected over an adequate region of the parameter space. In ecological species dispersal networks, appearance of such multiple dynamical patterns can be related with the phenomenon of species invasion, colonization which can explain persistence and diversity of species in an ecosystem. We estimate the emergence of these diversified dynamics by calculating the strength of the incoherent subpopulations for each and every recognizable pattern in the two-dimensional medium. Spatial arrangement of all such distinguishable patterns along with their spatiotemporal behaviors are numerically demonstrated for a comprehensive parametric range.

The rest of the paper is organized as follows. In Sec. II we introduce the mathematical model for the chosen prey-predator system over a two-dimensional diffusive medium. Section III is devoted to the linear stability analysis of the considered system in the absence or presence of the diffusive terms. Section IV includes a detailed discussion on the emergence of diverse collective patterns and their characterization over an extensive parameter region. Finally, in Sec. V we summarize our results and provide suitable conclusions. In Appendix A we derive the linear amplitude equation to analytically deduce the spiral wave pattern.

II Model description

In ecology, the generalized Lotka-Volterra type prey-predator models are used widely to understand the complex interaction behavior in multi-species population dynamics in a better way. For our study, we choose a modified prey-predator population model in the presence of Holling type III functional response. Specifically, here we incorporate one additional term in the predator equation that corresponds to the intra-specific competition between the predators intra1 ; intra2 . The intra-predator interaction term helps in reducing the rate of predation by decreasing the predator density and at the same time increasing their mortality rates. The above-mentioned assumptions in the presence of diffusion lead to the formulation of a mathematical model which takes the form of a RD system as given by

ut=a[u(1uk)bu2v1+u2]+Du2u,vt=cu2v1+u2dvηv2+Dv2v.\begin{array}[]{lcl}\frac{\partial u}{\partial t}=a\Big{[}u(1-\frac{u}{k})-\frac{bu^{2}v}{1+u^{2}}\Big{]}+D_{u}\nabla^{2}u,\\ \frac{\partial v}{\partial t}=\frac{cu^{2}v}{1+u^{2}}-dv-\eta v^{2}+D_{v}\nabla^{2}v.\end{array} (1)

Here u(x,y,t)u(x,y,t) and v(x,y,t)v(x,y,t) correspond to the prey and predator population densities, respectively, at position (x,y)(x,y) and time tt, on a bounded domain 𝔇2\mathfrak{D}\in\mathbb{R}^{2} with closed boundary 𝔇\partial\mathfrak{D}. The prey species follows a logistic growth with carrying capacity kk. The consumption of prey by the predator is represented by a Holling III functional response u2v1+u2\frac{u^{2}v}{1+u^{2}}. Here, bb is the maximum per capita predation rate and aa is a multiplicative factor associated with the prey growth equation. The scalar cc denotes the fraction of prey’s biomass converted into predator’s biomass via predation, dd is the natural mortality rate of the predator, and η\eta corresponds to the intra-predator interaction. The diffusion of both the species over the two-dimensional domain 𝔇\mathfrak{D} is represented by the Laplacian operator 2\nabla^{2}, where Du,DvD_{u},D_{v}, respectively signify the diffusivity coefficients of prey and predator populations. We analyze the model under the assumption of non-negative initial conditions along with zero-flux boundary conditions

u(x,y,0)>0,v(x,y,0)>0,(x,y)𝔇un^=vn^=0,(x,y)𝔇,\begin{array}[]{lcl}u(x,y,0)>0,v(x,y,0)>0,~{}~{}~{}(x,y)\in\mathfrak{D}\\ \frac{\partial u}{\partial\hat{n}}=\frac{\partial v}{\partial\hat{n}}=0,~{}~{}~{}(x,y)\in\partial\mathfrak{D},\end{array} (2)

where n^\hat{n} is the outward unit normal vector of the boundary 𝔇\partial\mathfrak{D}. For numerical simulations, we discretize the domain on a N×NN\times N two-dimensional lattice with N=249N=249 lattice points in each direction. In order to solve Eq. (1) numerically, we adopt the predictor-corrector method predict-correct with alternating directions approach considering spatial step h=0.25h=0.25 and integration time step dt=0.025dt=0.025. Other appropriate choices of N,hN,h and dtdt could also give rise to the desired dynamics.

III Linear stability analysis

In the following subsections, we will analyze the equilibrium points and the stability of the temporal (i.e., Du=Dv=0D_{u}=D_{v}=0) as well as the spatiotemporal (i.e., Du0,Dv0D_{u}\neq 0,D_{v}\neq 0) systems.

III.1 Temporal model

The equilibrium point (u,v)(u_{*},v_{*}) of the system (1) in the absence of diffusion (i.e., Du=Dv=0D_{u}=D_{v}=0) is given by the solution of the equations f(u,v)=0f(u_{*},v_{*})=0 and g(u,v)=0g(u_{*},v_{*})=0, where

f(u,v)=u(1uk)bu2v1+u2,g(u,v)=cu2v1+u2dvηv2.\begin{array}[]{lcl}f(u,v)=u(1-\frac{u}{k})-\frac{bu^{2}v}{1+u^{2}},~{}~{}~{}g(u,v)=\frac{cu^{2}v}{1+u^{2}}-dv-\eta v^{2}.\end{array} (3)

Solving Eq. (3) we can easily detect the following different possible equilibrium points of the system:
(i) Extinction of both the prey and predator population: E00=(0,0)E_{00}=(0,0).
(ii) Existence of only prey population: Eu0=(k,0)E_{u0}=(k,0), where the prey population varies depending on the carrying capacity kk.
(iii) Coexistence of both the populations: Euv=(us,vs)E_{uv}=(u_{s},v_{s}), where vs=1η(cus21+us2d)v_{s}=\frac{1}{\eta}\Big{(}\frac{cu_{s}^{2}}{1+u_{s}^{2}}-d\Big{)} and usu_{s} is a positive root of the following quintic equation:

us5kus4+(2+kb(cd)η)us32kus2+(1kbdη)usk=0.u_{s}^{5}-ku_{s}^{4}+\Big{(}2+\frac{kb(c-d)}{\eta}\Big{)}u_{s}^{3}-2ku_{s}^{2}+\Big{(}1-\frac{kbd}{\eta}\Big{)}u_{s}-k=0. (4)

Based on the parametric constraints, the number of interior equilibrium points (coexistence of both the prey and predator populations) can vary from zero to five. Here we plot the number of feasible co-existence equilibrium points (us,vs)(u_{s},v_{s}) in different parameter spaces as depicted in Fig. 1. The following parameter values k=6.5,b=0.1923,c=0.8,d=0.5k=6.5,b=0.1923,c=0.8,d=0.5 epjst_connect are fixed in such a manner that the system (1) exhibits oscillatory dynamics in the absence of diffusion with proper choice of the parameters aa and η\eta. Looking into the kηk-\eta parameter space plotted in Fig. 1(a), we fix the value of intra-predator interaction rate η\eta at η=0.018\eta=0.018 for the remaining numerical simulations. In the figure, the red region corresponds to the existence of only one interior equilibrium point while the black region signifies the absence of coexistence solution (i.e., negative real roots of Eq. (4)). Thus the parameter spaces depicted in all the figures in Fig. 1 indicate that the system (1) has maximally one interior equilibrium point in the absence of diffusion for our chosen values of the parameters.

Refer to caption

Figure 1: The number of feasible spatially homogeneous coexistence equilibrium points of the system (1) in (a) kηk-\eta, (b) kdk-d, and (c) bcb-c parameter spaces. The parameter values are fixed at k=6.5,b=0.1923,c=0.8,d=0.5k=6.5,b=0.1923,c=0.8,d=0.5 and η=0.018\eta=0.018 when any two of them are varied. Red and black colors correspond to the existence of only one and zero number of coexistence solution, respectively.

The eigenvalue λ\lambda of the Jacobian matrix JJ of the linearized system determining the stability book_ml of the coexistence equilibrium (us,vs)(u_{s},v_{s}), satisfies the equation λ2Tr(J)λ+ΔJ=0\lambda^{2}-Tr(J)\lambda+\Delta_{J}=0. Thus,

λ1,2=Tr(J)±Tr(J)24ΔJ2,\lambda_{1,2}=\frac{Tr(J)\pm\sqrt{Tr(J)^{2}-4\Delta_{J}}}{2}, (5)

where Tr(J)Tr(J) and ΔJ\Delta_{J} are the trace and determinant of the Jacobian matrix given by

Tr(J)=afu+gv,ΔJ=a(fugvfvgu).Tr(J)=af_{u}+g_{v},~{}~{}~{}\Delta_{J}=a(f_{u}g_{v}-f_{v}g_{u}). (6)

In Eq. (6) fu,fv,gu,gvf_{u},f_{v},g_{u},g_{v} are the partial derivatives of the functions f,gf,g with respect to u,vu,v, respectively. The equilibrium point is stable if Tr(J)Tr(J) and ΔJ\Delta_{J} evaluated at (us,vs)(u_{s},v_{s}) necessarily satisfy the conditions Tr(J)<0Tr(J)<0, ΔJ>0\Delta_{J}>0, and unstable otherwise. The system exhibits a Hopf bifurcation when the eigenvalues cross the imaginary axis at a point where Tr(J)=0Tr(J)=0, and the threshold for the bifurcation is derived as a0=gvfua_{0}=-\frac{g_{v}}{f_{u}}.

III.2 Spatiotemporal model

Now we investigate the condition for Turing instability of the spatiotemporal system (1) where the spatially homogeneous stable steady state (us,vs)(u_{s},v_{s}) becomes unstable to small amplitude perturbations in the presence of diffusion coefficients DuD_{u} and DvD_{v}. Linearizing the system around the interior equilibrium point (us,vs)(u_{s},v_{s}), we can write

u~t=afuu~+afvv~+Du2u~,v~t=guu~+gvv~+Dv2v~,\begin{array}[]{lcl}\frac{\partial\tilde{u}}{\partial t}=af_{u}\tilde{u}+af_{v}\tilde{v}+D_{u}\nabla^{2}\tilde{u},\\ \\ \frac{\partial\tilde{v}}{\partial t}=g_{u}\tilde{u}+g_{v}\tilde{v}+D_{v}\nabla^{2}\tilde{v},\end{array} (7)

where (u~,v~)(\tilde{u},\tilde{v}) is the small perturbation around (us,vs)(u_{s},v_{s}) such that u=us+u~u=u_{s}+\tilde{u} and v=vs+v~v=v_{s}+\tilde{v}. We consider,

(u~v~)=(u~σv~σ)eλt+iσ.r,\begin{pmatrix}\tilde{u}\\ \tilde{v}\end{pmatrix}=\begin{pmatrix}\tilde{u}_{\sigma}\\ \tilde{v}_{\sigma}\end{pmatrix}e^{\lambda t+i\vec{\sigma}.\vec{r}}, (8)

as the solution of the linearized system (7)\eqref{eq7}. Here, λ\lambda determines the rate of evolution of the perturbation over time tt, σ=(σx,σy)\vec{\sigma}=(\sigma_{x},\sigma_{y}) is the wave number such that σ.σ=σ2\vec{\sigma}.\vec{\sigma}=\sigma^{2} and r=(x,y)\vec{r}=(x,y) is the spatial position in two dimensions. In (8), u~σ,v~σ\tilde{u}_{\sigma},\tilde{v}_{\sigma} are the amplitudes of the perturbation. The Jacobian JDJ_{D} of the linearized system (7) is therefore given by

JD=(afuDuσ2afvgugvDvσ2).J_{D}=\begin{pmatrix}af_{u}-D_{u}\sigma^{2}&&af_{v}\\ g_{u}&&g_{v}-D_{v}\sigma^{2}\end{pmatrix}. (9)

Hence, the characteristic equation can be written as

λ2Tr(JD)+ΔJD=0,\lambda^{2}-Tr(J_{D})+\Delta_{J_{D}}=0, (10)

where Tr(JD)=Tr(J)(Du+Dv)σ2Tr(J_{D})=Tr(J)-(D_{u}+D_{v})\sigma^{2} and ΔJD=DuDvσ4(Dugv+aDvfu)σ2+ΔJ\Delta_{J_{D}}=D_{u}D_{v}\sigma^{4}-(D_{u}g_{v}+aD_{v}f_{u})\sigma^{2}+\Delta_{J}. For the emergence of Turing instability, (us,vs)(u_{s},v_{s}) must be stable in the absence of diffusion which guarantees that Tr(J)<0Tr(J)<0 and ΔJ>0\Delta_{J}>0. Therefore, from the expression of Tr(JD)Tr(J_{D}), it is clear that Tr(JD)<0Tr(J_{D})<0. Obviously, in order to induce instability in the spatiotemporal model (1) in the presence of diffusion coefficients DuD_{u} and DvD_{v}, ΔJD\Delta_{J_{D}} must be negative, i.e., DuDvσ4(Dugv+aDvfu)σ2+ΔJ<0D_{u}D_{v}\sigma^{4}-(D_{u}g_{v}+aD_{v}f_{u})\sigma^{2}+\Delta_{J}<0. But, the diffusion coefficients Du,DvD_{u},D_{v} as well as ΔJ\Delta_{J} all are positive, so necessarily the coefficient of σ2\sigma^{2} in the expression of ΔJD\Delta_{J_{D}} should be positive to generate Turing instability. Thus,

(Dugv+aDvfu)>0(D_{u}g_{v}+aD_{v}f_{u})>0 (11)

is the necessary condition for the instability of the equilibrium point (us,vs)(u_{s},v_{s}) in the presence of diffusion. Combining the condition (11) and Tr(J)<0Tr(J)<0, it eventually implies that Dv>DuD_{v}>D_{u} (since fu(us,vs)>0f_{u}(u_{s},v_{s})>0 and gv(us,vs)<0g_{v}(u_{s},v_{s})<0) for the equilibrium to be unstable.

Refer to caption

Figure 2: Plot of h(p)h(p) with respect to pp for different values of the system parameter aa. (a) As aa increases the width of the interval for which h(p)<0h(p)<0 increases, (b) zoomed version of the red rectangular region in (a). Here the black dotted line corresponds to h(p)=0h(p)=0. The parameter values considered here are k=6.5,b=0.1923,c=0.8,d=0.5k=6.5,b=0.1923,c=0.8,d=0.5, η=0.018,Du=0.01\eta=0.018,D_{u}=0.01 and Dv=1.8D_{v}=1.8.

Now, we consider the expression

h(p)=DuDvp2(Dugv+aDvfu)p+ΔJ,h(p)=D_{u}D_{v}p^{2}-(D_{u}g_{v}+aD_{v}f_{u})p+\Delta_{J}, (12)

which is a quadratic equation in pp with p=σ2p=\sigma^{2}. Here we plot the quadratic expression h(p)h(p) with respect to pp in Fig. 2(a) for different values of the parameter aa. It is easily discernible from the figure that as the value of aa increases the curve of h(p)h(p) moves downwards and thereby the width of the interval for which h(p)<0h(p)<0 increases. So, it is evident that the possibility of occurrence of Turing instability increases as the system parameter aa is increased. For better visibility in Fig. 2(b), we show the zoomed version of the red rectangular region near p=1p=1 depicted in Fig. 2(a). This figure confirms that the determinant h(0)h(0) of the Jacobian of the non-spatial system is positive for all considered values of aa. The graph of h(p)h(p) with respect to pp represents a parabolic structure for which the minimum is reached at p=pmp=p_{m}, following the relation dh(p)dp=0\frac{dh(p)}{dp}=0. Solving this we obtain the threshold of pp as pm=Dugv+aDvfu2DuDvp_{m}=\frac{D_{u}g_{v}+aD_{v}f_{u}}{2D_{u}D_{v}} at which the function h(p)h(p) attains its minima, as d2h(p)dp2>0\frac{d^{2}h(p)}{dp^{2}}>0, and the minimum value is given by

hmin(pm)=DuDvpm2+ΔJ.h_{min}(p_{m})=-D_{u}D_{v}p_{m}^{2}+\Delta_{J}. (13)

Using the condition (13) we can derive the expression for the critical value of diffusion coefficient DvD_{v} beyond which Turing instability emerges in the spatiotemporal system and this value is obtained as

DvCrit=Duafu2[(fugv2fvgu)±2fvgu(fvgufugv)].D_{v}^{Crit}=\frac{D_{u}}{af_{u}^{2}}\Big{[}(f_{u}g_{v}-2f_{v}g_{u})\pm 2\sqrt{f_{v}g_{u}(f_{v}g_{u}-f_{u}g_{v})}\Big{]}. (14)

Refer to caption


Figure 3: Critical curves for the Hopf and Turing bifurcations in aDva-D_{v} parameter space of the system (1). Blue dashed vertical line corresponds to the Hopf bifurcation threshold a0a_{0} and the red curve is associated with the Turing condition obtained in (14). Region I: system reaches the spatially homogeneous stationary state (us,vs)(u_{s},v_{s}); Region II: spatially homogeneous steady state loses its stability and the system reaches inhomogeneous steady states confirming the appearance of Turing patterns; Region III: Hopf instability occurs and the system exhibits limit cycle oscillations; Region IV: both Hopf and Turing instabilities occur. Other parameter values are same as mentioned in Fig. 2. Markers plotted in the figure correspond to the parameter values used in Fig. 4.

Figure 3 depicts the critical value (14) in red for a wide range of the parameter values of aa. Here the blue dashed vertical line corresponds to the Hopf bifurcation threshold a0a_{0}. These two Hopf and Turing instability curves intersect at a particular point and divide the whole parametric space into four distinct domains. Below the Turing curve in the domain I, the system reaches the spatially homogeneous stationary state (us,vs)(u_{s},v_{s}), while in domain II above the Turing curve the spatially homogeneous steady state loses its stability and the system reaches inhomogeneous steady states which confirms the appearance of Turing patterns. On the other side, beyond the Hopf boundary in domain III, Hopf instability occurs and the system exhibits limit cycle oscillations, whereas the most interesting non-trivial dynamics is observed in domain IV where both Hopf and Turing instabilities take place. Figure 4 depicts the spatial patterns of the prey species for some exemplary parameter values from the regions I, II and III. To generate the spatial patterns, the initial distribution of the species is considered as

u(x,y,0)=usϵ1(y0.5(N1)),v(x,y,0)=vsϵ2(x0.5(N1)),\begin{array}[]{lcl}u(x,y,0)=u_{s}-\epsilon_{1}(y-0.5(N-1)),\\ v(x,y,0)=v_{s}-\epsilon_{2}(x-0.5(N-1)),\end{array} (15)

where (x,y)(x,y) is considered as the grid index and ϵ1,ϵ2\epsilon_{1},\epsilon_{2} are small fluctuations added to the homogeneous steady state. We take ϵ1=ϵ2=104\epsilon_{1}=\epsilon_{2}=10^{-4}. The appearance of spatially homogeneous steady state in region I is portrayed in Fig. 4(a) for the parameter value a=1.3a=1.3 and diffusion strengths Du=0.01,Dv=0.3D_{u}=0.01,D_{v}=0.3. Figures 4(b) and 4(c) correspond to the Turing patterns when the parameter values are chosen from region II. Stripe pattern is depicted in Fig. 4(b) for the parameter values a=1.3,Du=0.01a=1.3,D_{u}=0.01 and Dv=0.8D_{v}=0.8 while a combination of stripes and spots is detected for the parameter values a=1.3,Du=0.01a=1.3,D_{u}=0.01 and Dv=1.2D_{v}=1.2 in Fig. 4(c). An intriguing spiral pattern is illustrated in Fig. 4(d) for the parameter values a=4.0,Du=0.01,Dv=0.01a=4.0,D_{u}=0.01,D_{v}=0.01 set in region III. In the following section, we will explore the rich dynamical patterns observed on the right of the Hopf boundary below and above the Turing curve.

Refer to caption

Figure 4: Spatial patterns of the prey species observed in the regions I, II and III of Fig. 3 for which the parameter values are fixed at (a) a=1.3,Du=0.01,Dv=0.3a=1.3,D_{u}=0.01,D_{v}=0.3 (black circle in Fig. 3): spatially homogeneous stable stationary state, (b) a=1.3,Du=0.01,Dv=0.8a=1.3,D_{u}=0.01,D_{v}=0.8 (blue square in Fig. 3): stripes pattern, (c) a=1.3,Du=0.01,Dv=1.2a=1.3,D_{u}=0.01,D_{v}=1.2 (cyan square in Fig. 3): combination of stripes and spots, and (d) a=4.0,Du=0.01,Dv=0.01a=4.0,D_{u}=0.01,D_{v}=0.01 (red triangle in Fig. 3): spiral pattern. Other parameter values are same as mentioned earlier in the text. The color bars represent the prey population density uu.

IV Diverse collective states beyond Hopf boundary

In this section, we explore the emergence of various spatiotemporal patterns and their dynamical characteristics in a broad region of the parameter space spanned by the diffusion coefficients.

IV.1 Emergence of spatial patterns for a=2.0a=2.0

From a detailed numerical analysis, we find that three different spatial patterns arise in the DuDvD_{u}-D_{v} parameter space near the Hopf boundary for the parameter value a=2.0a=2.0 as presented in Fig. 5. The regime diagram is obtained by looking into the snapshot at the corresponding diffusion parameter values at the final time when the system is simulated up to t=5×104t=5\times 10^{4} time units. In addition, we also checked the temporal as well as the spatiotemporal dynamics in the time interval [4.99×104,5×104][4.99\times 10^{4},5\times 10^{4}] to classify the states as oscillatory or non-oscillatory. The red dashed line corresponds to the critical threshold DvCritD_{v}^{Crit} for Turing instability as obtained from Eq. (14). The region below the critical line corresponds to the parameter values for which oscillatory dynamics is present, whereas in the region above the critical line steady state dynamics persists. For comparatively smaller values of diffusion coefficients Du,DvD_{u},D_{v}, spiral wave pattern is noticed. The corresponding parameter region is shaded with sky blue color. Higher values of prey and predator diffusion strengths (the region shaded in pink) below the red dashed line lead to a pattern where completely synchronized temporal oscillations are obtained. The region shaded in yellow corresponds to the Turing instability region where the system settles down to inhomogeneous steady state dynamics confirming the appearance of various Turing patterns. From the figure it is evident that the analytically derived boundary (marked with red dashed line) partitioning the oscillatory and the non-oscillatory regimes is in perfect accordance with the numerically simulated parameter space.

Refer to caption

Figure 5: Emergence of different spatial patterns in DuDvD_{u}-D_{v} parameter space for parameter value a=2.0a=2.0. The regions shaded with sky blue, pink and yellow colors correspond to the regions of spiral wave (SW) oscillations, completely synchronized (CS) oscillations and inhomogeneous steady states (OD), respectively. Red dashed line represents the critical boundary above which Turing instability persists in the system. Spatiotemporal evolution of the system corresponding to the parameter values marked with triangle, circle and square are depicted in Fig. 6.

Refer to caption

Figure 6: Evolution of various spatial patterns corresponding to the markers in Fig. 5 for prey growth rate a=2.0a=2.0. (a,b,c) Snapshots of the prey species in the two-dimensional diffusive medium at a particular time instant t=5×104t=5\times 10^{4}, (d,e,f) horizontal cross-section along the center is plotted in red dots with respect to the number of discretized grids in each direction, (g,h,i) temporal dynamics of prey species of all the 249249 sites along the cross-section corresponding to each pattern, (j,k,l) spatiotemporal evolution of the corresponding prey densities. Diffusion coefficients are fixed at Du=0.01,Dv=0.001D_{u}=0.01,D_{v}=0.001 (left panel, corresponding to red triangle in Fig. 5), Du=1.0,Dv=0.1D_{u}=1.0,D_{v}=0.1 (middle panel, corresponding to black circle in Fig. 5), and Du=0.001,Dv=1.0D_{u}=0.001,D_{v}=1.0 (right panel, corresponding to blue square in Fig. 5). The associated colorbars quantify the prey densities uu at that instant of time. The color codings for the bottom row figures are same as that of the corresponding upper row figures.

In the following Fig. 6, we demonstrate the spatial snapshots of the various patterns as mentioned in Fig. 5 and their evolution over time. Left, middle and right columns correspond to the evolution of the prey species exhibiting spiral, synchronized oscillatory and inhomogeneous steady state dynamics, respectively. Snapshots of these patterns in the prey population over a two-dimensional diffusive medium are presented in Figs. 6(a,b,c) at a particular instant of time. The corresponding colorbars quantify the densities of the prey population uu at that time instant. To better understand the organization among the species for each pattern we have taken a horizontal cross-section along the central line and plotted them in Figs. 6(d,e,f) with respect to the number of discretized grids in each direction. Figures 6(g,h,i) in the third row exhibit the temporal dynamics of the prey species along the horizontal cross section and finally, Figs. 6(j,k,l) in the bottom row correspond to the spatiotemporal evolution of the patterns among the prey species along the cross-section. Existence of stable spiral pattern is depicted in Fig. 6(a) for diffusion coefficients Du=0.01D_{u}=0.01 and Dv=0.001D_{v}=0.001. The frequency of rotation of the spiral wave decreases and the wavelength of the spiral increases when either one or both the diffusion strengths are increased (figure not shown here). The one dimensional cross-section of the spiral pattern presented in Fig. 6(d) reflects a coherent oscillatory structure among the species in the discrete grids. Temporal dynamics in the form of limit cycle oscillations of these species along the cross section is clearly visible in Fig. 6(g). The observed spiral wave starts to propagate from the core and expands in the outward direction which can be perceived from the spatiotemporal evolution of the prey species along the cross-section depicted in Fig. 6(j). Figure 6(b) reveals the uniform spatial density of the prey species in the two-dimensional medium for diffusion strengths Du=1.0D_{u}=1.0 and Dv=0.1D_{v}=0.1 and their corresponding horizontal cross-section along the center line is presented in Fig. 6(e). The temporal as well as the spatiotemporal evolutions depicted in Figs. 6(h) and 6(k) confirm the existence of completely synchronized limit cycle oscillations with uniform spatial density of all the species. These two figures clearly depict that at any particular instant of time the spatial densities of all the species remain constant. That is why the spatial snapshot in Fig. 6(b) takes only a single value corresponding to the light green color from the colorbar. Emergence of inhomogeneous steady states in the two-dimensional diffusive environment is demonstrated in Fig. 6(c) resulting from the Turing instability at the diffusion coefficient values Du=0.001D_{u}=0.001 and Dv=1.0D_{v}=1.0. Horizontal cross-section of the prey species uu along the center line presented in Fig. 6(f) signifies that the species density keeps fluctuating between the upper and the lower branches while maintaining a steady state temporal dynamics. Two distinguishable clusters of prey densities are clearly visible from the temporal dynamics presented in Fig. 6(i). Such kind of temporal pattern where the inhomogeneous steady states are subdivided into more than one distinguishable clusters are known as multicluster oscillation death states mcod . The corresponding spatiotemporal evolution of these multicluster oscillation death states is portrayed in Fig. 6(l).

IV.2 Emergence of amplitude mediated spiral chimera

Besides the above mentioned three distinct categories of spatial patterns, another fascinating spatial organization among the dynamical elements is noticed as the parameter aa is shifted away from the Hopf bifurcation boundary. For appropriate choices of prey and predator diffusion strengths DuD_{u} and DvD_{v}, the core of the spiral motion in the two-dimensional space starts to expand. The dynamical units inside the spiral core exhibit anomalous behavior which differentiates the core region from that of the spiral arm where the constituents follow a smooth motion. Simultaneous occurrence of coherent dynamics in the spiral arm and incoherent dynamics in the spiral core discriminates the spatial pattern from that of the ordinary spiral dynamics. Such coexistence of coherent and incoherent behaviors within a spiral structure develops the captivating spiral chimera pattern. Emergence of spiral chimera patterns in DuDvD_{u}-D_{v} parameter space is manifested in Fig. 7 through the parametric region shaded with green color. Other parameter regions shaded with sky blue, pink and yellow colors correspond to similar spatial dynamics as discussed earlier in Fig. 5. Apart from the diffusion strengths associated with the yellow shaded region all other diffusion strengths correspond to oscillatory dynamics of the considered reaction-diffusion system. Two different parameter spaces are depicted in Figs. 7(a) and 7(b), respectively, for two different values of the multiplicative factor a=4.0a=4.0 and a=6.0a=6.0. As mentioned already, the red dashed line delimits the analytically obtained bound DvCritD_{v}^{Crit} for Turing instability. Although, contrary to the case of Fig. 5 where the red boundary perfectly matches with the numerically simulated parameter region, a discrepancy is noticed in Fig. 7 between the analytical and numerical bounds separating the oscillatory and non-oscillatory regimes. From the figure it is visible that the analytically derived red boundary fails to determine the critical threshold beyond which oscillatory dynamics vanishes and steady state dynamics (yellow shaded region) begins. Such inconsistency is triggered by the simultaneous occurrence of both the Hopf and the Turing instabilities for the considered parameter values of aa. In the right hand side of the blue vertical line displayed in Fig. 3, whenever aa remains very close to the critical value a0a_{0}, the emergence of Turing instability overrules the Hopf instability, i.e., the oscillatory dynamics is suppressed and the steady state dynamics arises as soon as the diffusion coefficients satisfy the Turing instability condition. That is why for a=2.0a=2.0, once the diffusion coefficients reach the Turing instability condition (Eq. (14)), steady state dynamics replaces the oscillatory dynamics which is reflected perfectly in the parameter space of Fig. 5. However, when aa moves away further from a0a_{0}, the appearance of oscillations due to Hopf bifurcation reveals dominating characteristic and as a result, Eq. (14) fails to predict the emergence of steady state dynamics of the system (1). This scenario is demonstrated through the parameter spaces in Fig. 7 as there is appreciable difference between the numerically obtained parameter values (yellow region) and the analytically derived bounds for the appearance of steady state dynamics.

Refer to caption

Figure 7: Emergence of diverse spatial patterns in DuDvD_{u}-D_{v} parameter space for prey growth rate (a) a=4.0a=4.0, (b) a=6.0a=6.0. Regions shaded with sky blue, green, pink and yellow colors respectively correspond to the regions of spiral wave oscillations, spiral chimera, completely synchronized oscillations and inhomogeneous steady states. Red dashed line corresponds to the analytically derived critical boundary above which inhomogeneous steady state dynamics is expected in the system. Markers plotted in Fig. 7(a) correspond to the parameter values used in Figs. 8, 9 and 10.

Refer to caption

Figure 8: Evolution of amplitude mediated spiral chimera pattern: (a) snapshot of the prey density uu in the two-dimensional space at a particular time instant t=5×104t=5\times 10^{4} depicting incoherence in the spiral core, (b) corresponding finite-time average u\langle u\rangle over T=103T=10^{3} time iterations, (c) spatiotemporal behavior of the species density along the horizontal cross-section through the line y=124y=124, (d) snapshot along the horizontal cross-section for a better visualization of the incoherence dynamics around the center, (e) amplitude difference Δu\Delta\langle u\rangle between two adjacent species densities along the horizontal cross-section, (f) corresponding phase difference Δϕ\Delta\phi between two adjacent constituents along the cross-sectioned profile, (g) temporal dynamics of the coherent subpopulations along the line y=124y=124, (h) temporal dynamics of the incoherent subpopulation along the line y=124y=124, (i) attractors corresponding to the amplitude mediated chimera state along the cross-section through y=124y=124. Prey and predator diffusion strengths are fixed at Du=0.01D_{u}=0.01 and Dv=1.0D_{v}=1.0 corresponding to the orange diamond marker plotted in Fig. 7(a).

The interplay between the two different instabilities where the oscillations caused by the Hopf bifurcation interact with the inhomogeneous steady states arising due to the Turing bifurcation leads to a fascinatingly complex spiral chimera pattern. We carry out a detailed numerical simulation to analyze the characteristics of such an exotic chimera structure as presented in Fig. 8. Figure 8(a) depicts the typical snapshot of the spiral chimera pattern at a particular time instant t=5×104t=5\times 10^{4} for a=4.0a=4.0, when the diffusion coefficients are fixed at Du=0.01D_{u}=0.01 and Dv=1.0D_{v}=1.0. For a better understanding of the correlation among the species we take a horizontal cross-section along the center line and plot them in Fig. 8(d). Anomalous species densities around the spiral core surrounded by coherent densities of the prey species is detectable from both the Figs. 8(a) and 8(d). To get further insight about the amplitude of the oscillatory prey densities over the two-dimensional medium, we calculate the finite-time average of the prey densities u(x,y,t)u(x,y,t) at each grid index (x,y)(x,y) over T=103T=10^{3} time iterations using the formula u(x,y,t)=1T0Tu(x,y,t)𝑑t\langle u(x,y,t)\rangle=\frac{1}{T}\int_{0}^{T}u(x,y,t)dt. We plot the estimated average prey densities u\langle u\rangle in the two-dimensional xyx-y plane in Fig. 8(b) which depicts that apart from the species situated in the spiral core all the remaining prey species oscillate with a nearly identical amplitude, whereas random fluctuations are noticed around the core region. For a clear visualization here also we take the horizontal cross-section along the center line and plot the amplitude differences between two adjacent species densities in Fig. 8(e). Zero values of the amplitude difference Δu\Delta\langle u\rangle suggest coherent amplitude of the prey species densities outside the spiral core while non-zero values of Δu\Delta\langle u\rangle around the core corresponds to incoherent species amplitude. The corresponding spatiotemporal evolution of the species densities along the horizontal cross-section is presented in Fig. 8(c) which reveals that the observed chimera pattern is stationary with respect to time. We further calculate the phases of each of the individual components available in the two-dimensional diffusive medium using the formula ϕ(x,y)=tan1(v(x,y)vsu(x,y)us)\phi(x,y)=\tan^{-1}\Big{(}\frac{v(x,y)-v_{s}}{u(x,y)-u_{s}}\Big{)}. Figure 8(f) delineates the phase differences Δϕ\Delta\phi between two adjacent units situated along the cross-sectioned profile in Fig. 8(d). Again a zero value of Δϕ\Delta\phi characterizes coherent subpopulation whereas a non-zero value of the phase difference confirms the presence of incoherent dynamics. Thus the observed chimera pattern exhibits coherence-incoherence dynamics in both the phases and the amplitudes of the constituent elements, and hence resembles the structure of an amplitude mediated chimera state. Besides, we also explore the temporal dynamics of each of the individual elements along the cross-sectioned profile. From the cross-sectioned prey densities it is evident that the coherent subpopulations are separated into two disjoint clusters by the incoherent subpopulations. The time series for the coherent subpopulations are presented in Fig. 8(g), where the two distinct clusters follow two distinguishabe temporal patterns marked with blue and black curves. The figure indicates that the two disjoint clusters of coherent subpopulations are in opposite phases with each other. However, the randomness in the temporal dynamics of the incoherent subpopulations is presented by red curves in Fig. 8(h). The corresponding phase space dynamics of the amplitude mediated chimera state along the cross-section is portrayed in Fig. 8(i). Positive correlation among the coherent subpopulations are prominent from the attractors plotted with blue and black curves, while randomness is detectable among the incoherent group through the plotted attractors in red.

IV.3 Multiple oscillatory and non-oscillatory dynamics for a=4.0a=4.0

Further, we also scrutinize the development of other oscillatory patterns for a=4.0a=4.0 in terms of their average amplitude as illustrated in Fig. 9. The upper panel depicts the typical snapshots of distinct spatial patterns that are oscillating in time for different combinations of the diffusion strengths at a particular time instant t=5×104t=5\times 10^{4}. The finite-time averages of each of these individual patterns over T=103T=10^{3} time iterations are presented in the middle row, while the amplitude differences between the adjacent nodes along the horizontal cross-sections through the center lines are presented in the bottom row. Snapshot of an ordinary spiral is portrayed in Fig. 9(a) for lower values of both the diffusion coefficients Du=Dv=0.01D_{u}=D_{v}=0.01. Figure 9(d) shows the corresponding time average u\langle u\rangle of each individual prey species in the two-dimensional space. The figure reveals that except at the center where the average amplitude is low (around 2.32.3) compared to the remaining space that is occupied with average amplitude of species ranging between 2.52.5 to 2.62.6. The amplitude difference Δu\Delta\langle u\rangle plotted in Fig. 9(g) along the horizontal cross-section through y=124y=124 takes approximately zero value for all the spatial positions except for very few nodes at the center. The frequency of rotation of the spiral wave decreases as one or both the diffusion strengths are increased and an exemplary snapshot of the spatial pattern is presented in Fig. 9(b) for diffusion strengths Du=0.01D_{u}=0.01 and Dv=0.1D_{v}=0.1. The corresponding finite-time average u\langle u\rangle represented in Fig. 9(e) again confirms that the species densities oscillate with nearly identical amplitude throughout the two-dimensional space except at the center. However, the size of the core with drifted amplitude starts to increase as the diffusion strengths increase which is apparent from Fig. 9(h). Finally, Fig. 9(c) in the right panel corresponds to uniform spatial densities of the prey species throughout the two-dimensional space for Du=0.1D_{u}=0.1 and Dv=1.0D_{v}=1.0. The identical amplitude of oscillating species densities throughout the space is easily recognizable from the Figs. 9(f) and 9(i).

Refer to caption

Figure 9: (a,b,c) Snapshots of temporally oscillating prey densities uu, displaying various spatial patterns for different combinations of diffusion strengths at a particular time instant t=5×104t=5\times 10^{4}, (d,e,f) corresponding finite-time average u\langle u\rangle of the prey densities associated with each individual pattern over T=103T=10^{3} time iterations, (g,h,i) amplitude difference Δu\Delta\langle u\rangle between two adjacent species densities along the horizontal cross-section through the line y=124y=124. Diffusion coefficients are fixed at values corresponding to the markers depicted in Fig. 7(a): (a,d,g) Du=Dv=0.01D_{u}=D_{v}=0.01 (red triangle), (b,e,h) Du=0.01,Dv=0.1D_{u}=0.01,D_{v}=0.1 (yellow triangle), (c,f,i) Du=0.1,Dv=1.0D_{u}=0.1,D_{v}=1.0 (black circle).

Refer to caption

Figure 10: (a,b) Snapshots of the spatial distribution of the prey species uu at a particular time instant t=5×104t=5\times 10^{4} in two-dimensional diffusive space exhibiting inhomogeneous steady state dynamics, (c,d) corresponding snapshots along the horizontal cross-section through the line y=125y=125, (e,f) spatiotemporal behavior of the states presented in (c,d). Diffusion strengths are fixed at Du=0.0018,Dv=1.0D_{u}=0.0018,D_{v}=1.0 (blue square in Fig. 7(a)) for the left panel and Du=0.0056,Dv=1.0D_{u}=0.0056,D_{v}=1.0 (cyan square in Fig. 7(a)) for the right panel.

Next, we also demonstrate the spatial arrangement as well as the spatiotemporal organization of the prey densities when they are in the steady state regime. The emergence of Turing instability for suitable combinations of prey and predator diffusion coefficients drives the system to exhibit inhomogeneous steady state dynamics. The transition from amplitude mediated spiral chimeras to inhomogeneous steady states results in two different types of oscillation death states. One is the chimera death state, where a coexistence of coherent and incoherent oscillation death states is observed just like the oscillatory chimera states, and the other is the incoherent oscillation death state, where no coherent behavior is detected among the constituents. Two distinct snapshots of the spatial organization among the prey species in oscillation death state are presented in Figs. 10(a) and 10(b) for diffusion strengths Du=0.0018,Dv=1.0D_{u}=0.0018,D_{v}=1.0 and Du=0.0056,Dv=1.0D_{u}=0.0056,D_{v}=1.0, respectively. In the middle panel the corresponding snapshots along the horizontal cross-sections through the line y=125y=125 are presented. Coexistence of coherent and incoherent oscillation death states is prominent from Fig. 10(c) which characterizes the state as chimera death state. On the other hand, Fig. 10(d) clearly demonstrates the presence of incoherent oscillation death states which keeps on fluctuating randomly between the upper and the lower branches of the inhomogeneous steady states. The stationary behavior of such states is further confirmed from the spatiotemporal dynamics presented in Figs. 10(e) and 10(f), respectively.

IV.4 Characterization of distinct dynamical states

In order to characterize the occurrence of all such diverse patterns, we introduce a measure to estimate the strength of incoherent populations in a particular pattern arising in the two-dimensional space. On the basis of the computed finite-time average of the species densities for each pattern, we calculate the strength of incoherent subpopulation for each of those dynamical patterns using the following relation

S=11N2xyH(u¯(x,y)),H(u¯)=Θ(δ|u¯|),S=1-\frac{1}{N^{2}}\sum\limits_{x}\sum\limits_{y}H(\bar{u}(x,y)),~{}~{}~{}H(\bar{u})=\Theta(\delta-|\bar{u}|), (16)

generalizing the notion of strength of incoherence introduced by Gopal et al. chimera_nonlocal3 to characterize chimera states in one dimensional arrays. Here u¯(x,y)=u(x,y)uc\bar{u}(x,y)=\langle u(x,y)\rangle-\langle u_{c}\rangle measures the deviation of each of the species densities situated at position (x,y)(x,y) from that of the coherent subpopulations. uc\langle u_{c}\rangle represents the average amplitude of the coherent subpopulations throughout the two-dimensional space which is kept fixed at uc=2.55\langle u_{c}\rangle=2.55. u¯=0\bar{u}=0 corresponds to the coherent subpopulation whereas the nonzero values of u¯\bar{u} signify the species belonging to the incoherent group. δ\delta is a predefined threshold value and Θ()\Theta(\cdot) denotes the Heaviside step function.

Refer to caption

Figure 11: Strength of incoherent subpopulations SS in the RD system (1) (a) for varying prey diffusion rate DuD_{u} and fixed predator diffusion rate Dv=0.56D_{v}=0.56, (b) for varying predator diffusion rate DvD_{v} and fixed prey diffusion rate Du=0.01D_{u}=0.01. δ=0.035\delta=0.035 is considered here. Presence of four different dynamical states, namely, oscillation death (OD), spiral wave (SW), spiral chimera (SC) and complete synchronization (CS) states are distinguished with yellow, sky blue, green and pink shaded regions, respectively.

The measure for the estimation of strength of incoherent subpopulations SS lies in the range [0,1][0,1]. Zero value of SS is attained when the system exhibits completely synchronized temporally oscillating uniform spatial densities of the species, while S=1S=1 stands for the oscillation death states or the inhomogeneous steady states. Various spiral dynamics are represented by the non-zero and non-unit values of SS, i.e., 0<S<10<S<1. However, for ordinary spirals due to the presence of very little incoherence around the core, SS takes values close to zero. Existence of amplitude mediated spiral chimera states is determined by sufficiently large values of SS lying between 0 and 11. In Fig. 11 the transitions among different dynamical states are illustrated by plotting the measure SS with respect to the diffusion coefficients Du,DvD_{u},D_{v}. Three distinct collective dynamics, namely oscillation death (OD), spiral chimera (SC) and completely synchronized oscillation (CS), are observed when the strength of incoherent subpopulations are plotted in Fig. 11(a) with respect to varying prey diffusion rate DuD_{u} for fixed value of the predator diffusion rate Dv=0.56D_{v}=0.56. Additionally, in Fig. 11(b) we plot the measure SS for varying predator diffusion strength DvD_{v} at fixed value of prey diffusion strength Du=0.01D_{u}=0.01. Here also three distinct dynamical states are detected, namely spiral wave (SW), spiral chimera (SC) and oscillation death (OD) states. From the figure it is evident that the amplitude mediated spiral chimera states appear during the transition from oscillatory motion to steady state dynamics.

IV.5 Effect of spatial geometry

Throughout the article, all the numerical simulations are carried out using the fixed grid size N2=2492N^{2}=249^{2}, spatial step h=0.25h=0.25 and integration time step dt=0.025dt=0.025. Now, we check the effect of varying NN and hh on the observed patterns of the considered system. For this, we fix the diffusion coefficients at Du=0.01D_{u}=0.01 and Dv=1.0D_{v}=1.0 for which spiral chimera pattern was observed in Fig. 8 with N=249N=249. Now, if the value of NN is reduced gradually, the dynamics changes from spiral chimera to completely synchronized oscillation states (figure not shown), whereas increasing NN retains the dynamics unchanged as obtained in Fig. 8(a). It should be noted that varying only NN alters the spatial distance N×hN\times h. Thus, lowering NN reduces the spatial distance which may not be sufficient for the emergence of the spiral pattern which is why the dynamics gets changed for smaller values of NN. Figure 12(a) displays the snapshot of the spatial evolution of the pattern obtained for N=401N=401 at a particular time instant t=5×104t=5\times 10^{4}. Obviously, the pattern is same as depicted in Fig. 8(a) since the spatial length N×hN\times h is sufficiently large here. On the other hand, we have also verified that similar spatial patterns can be observed by varying the spatial step size hh, but the time step dtdt, time iteration and NN should also be changed accordingly. For example, we choose h=0.15,dt=0.015,N=415h=0.15,dt=0.015,N=415 and time iteration =3.5×106=3.5\times 10^{6} such that the spatial distance N×hN\times h and the time tt (iteration×dt\times dt) at which the snapshot is recorded remains almost unchanged. The snapshot of the spatial pattern is depicted in Fig. 12(b). Therefore, other choices of N,h,dtN,h,dt may also give rise to the similar dynamics as long as the spatial distance N×hN\times h and the time iteration t/dtt/dt remains sufficient for the emergence of the respective patterns.

Refer to caption

Figure 12: Effect of grid size N2N^{2} and spatial step size hh on the spiral chimera dynamics. Snapshots of the spatial patterns are taken at (a) t=5×104t=5\times 10^{4} for N=401,h=0.25N=401,h=0.25, and dt=0.025dt=0.025, (b) t=5.25×104t=5.25\times 10^{4} for N=415,h=0.15N=415,h=0.15 and dt=0.015dt=0.015. Diffusion coefficients are fixed at Du=0.01,Dv=1.0D_{u}=0.01,D_{v}=1.0.

V Conclusion

In summary, through this article, we have established a connection between the different instabilities, namely Turing and Hopf instabilities that are responsible for pattern formation in spatially extended reaction-diffusion systems and the emergence of chimera patterns in such systems. Unfolding of diverse collective dynamics including the exotic chimera states has been reported by considering a two component prey-predator model over a two-dimensional diffusive medium. We have performed a detailed linear stability analysis of the considered RD system to derive the conditions for both the onset of Turing and Hopf bifurcations which enable us to explore the parametric region where the stability of the homogeneous steady state of the system is lost. Emergence of coherent spiral waves has been detected in a broad region of the diffusion driven parameter space where the system exhibits temporal oscillations beyond the Hopf bifurcation. Besides numerical simulations, development of this spiral pattern has been verified analytically by deriving the appropriate linear amplitude equation (in Appendix A). The most interesting phenomenon that we have observed is the appearance of random fluctuations around the spiral core for parameter values exceeding both the Turing and Hopf bifurcations. Simultaneous interplay of the oscillatory dynamics formed due to Hopf bifurcation and the emergence of inhomogeneous steady states caused by the Turing bifurcation combinedly generates a randomized core inside the coherent spiral arm. Such coexistence of coherent-incoherent dynamics within a spiral structure is represented as spiral chimera pattern and their presence is manifested for suitable combinations of the prey and predator diffusion coefficients in the parametric space.

Previously, spiral chimera states were observed in a similar model sw_epjst in the absence of intrapredator interaction term, where the coherent-incoherent dynamics was observed only on the phases of the oscillators. In contrast to this, the inclusion of the term ηv2\eta v^{2} in our current study develops an amplitude mediated spiral chimera displaying randomness both in phases and amplitudes of the constituents. We confirmed the occurrence of such states by looking into the finite-time averages and the phases of the individual dynamical units. In fact, the additional term also helped in the analytical derivation of the linear amplitude equation corresponding to the spiral pattern presented in Appendix A. Instead of incoherent oscillatory states observed in sw_epjst , here we obtained various oscillation death states owing to the amplitude variations. Concurrence of both Hopf and Turing instabilities promotes the emergence of diverse dynamical states, precisely, spiral wave, spiral chimera, synchronized oscillation and oscillation death states. We found that the amplitude mediated spiral chimera states appear during the transition from temporally oscillating states to inhomogeneous steady states with respect to varying diffusion coefficients. The occurrence of all these states are characterized by defining a measure SS, to estimate the strength of incoherent subpopulations corresponding to a particular pattern. Moreover, we also verified that the spiral chimera pattern emerges for other appropriate choices of N,hN,h and dtdt. Previous studies on the emergence of spiral chimera states either in RD or non-RD systems have revealed the appearance of incoherent dynamics only in the phases of the constituting elements. Surprisingly, the emergence of an amplitude mediated spiral chimera state revealing incoherent behavior both in terms of the phases and the amplitudes of the composing units have not been reported earlier. Such fascinating dynamics arises for parameter values surpassing both the Turing and Hopf bifurcations, which we believe to be an important observation of our current study.

In ecology, dispersal of species in terms of diffusion not only helps in maintaining species diversity and species persistence, but also supports various self-organization phenomena associated with species invasion, colony formation or extinction in ecosystems. Ref. drake suggests that the synchronization in coupled ecological dispersal networks might get disrupted by species invasion which can be related with the occurrence of chimera like behavior.

Acknowledgments: The work of P.M. is supported by DST-FIST (Department of Physics), DST-PURSE and MHRD RUSA 2.0 (Physical Sciences) Programmes. M.L. is supported by Science and Engineering Research Board Distinguished Fellowship.

Appendix A Amplitude equation for spiral pattern

For further understanding on the development of spiral pattern beyond the Hopf bifurcation boundary, here, we proceed through the derivation of the amplitude equation for spiral pattern following a multiscale analysis procedure multiscale1 ; multiscale2 . For this, we take the linearized system Eq. (7)\eqref{eq7} to find the amplitude equation. For our system, we consider aa to be the bifurcation parameter and a0a_{0} is the value of aa at which Hopf bifurcation occurs, as obtained in Sec.III.1. We can tune the control parameter as a=a0+ϵa1a=a_{0}+\epsilon a_{1} close to the bifurcation boundary for the spiral wave solution, where ϵ\epsilon is the smallness parameter such that 0<ϵ10<\epsilon\ll 1. Now, we scale the two-dimensional space coordinates as r=r0+ϵr1r=r_{0}+\epsilon r_{1} and θ=θ0+ϵθ1\theta=\theta_{0}+\sqrt{\epsilon}\theta_{1} and the time variable as t=t0+ϵτt=t_{0}+\epsilon\tau, which give

r=r0+ϵr1,θ=θ0+ϵθ1,t=t0+ϵτ.\begin{array}[]{lcl}\frac{\partial}{\partial r}=\frac{\partial}{\partial r_{0}}+\epsilon\frac{\partial}{\partial r_{1}},~{}~{}\frac{\partial}{\partial\theta}=\frac{\partial}{\partial\theta_{0}}+\sqrt{\epsilon}\frac{\partial}{\partial\theta_{1}},~{}~{}\frac{\partial}{\partial t}=\frac{\partial}{\partial t_{0}}+\epsilon\frac{\partial}{\partial\tau}.\end{array} (17)

The perturbation terms u~\tilde{u} and v~\tilde{v} can be expressed as

u~=ϵu1+ϵ2u2+,v~=ϵv1+ϵ2v2+.\begin{array}[]{lcl}\tilde{u}=\epsilon u_{1}+\epsilon^{2}u_{2}+\ldots,\\ \tilde{v}=\epsilon v_{1}+\epsilon^{2}v_{2}+\ldots.\end{array} (18)

Substituting the multiple scale expansion given by Eq. (18) along with the rescaled coordinates into (7) we get,

ϵ[u1t0a0(fuu1+fvv1)Du02u1]+ϵ2[u1τ+u2t0a0(fuu2+fvv2)a1(fuu1+fvv1)Du(02u2+12u1)]=0,\begin{array}[]{lcl}\epsilon\Big{[}\frac{\partial u_{1}}{\partial t_{0}}-a_{0}(f_{u}u_{1}+f_{v}v_{1})-D_{u}\nabla_{0}^{2}u_{1}\Big{]}\\ +\epsilon^{2}\Big{[}\frac{\partial u_{1}}{\partial\tau}+\frac{\partial u_{2}}{\partial t_{0}}-a_{0}(f_{u}u_{2}+f_{v}v_{2})-a_{1}(f_{u}u_{1}+f_{v}v_{1})\\ ~{}~{}~{}~{}~{}~{}-D_{u}(\nabla_{0}^{2}u_{2}+\nabla_{1}^{2}u_{1})\Big{]}=0,\end{array} (19)

and

ϵ[v1t0(guu1+gvv1)Dv02v1]+ϵ2[v1τ+v2t0(guu2+gvv2)Dv(02v2+12v1)]=0.\begin{array}[]{lcl}\epsilon\Big{[}\frac{\partial v_{1}}{\partial t_{0}}-(g_{u}u_{1}+g_{v}v_{1})-D_{v}\nabla_{0}^{2}v_{1}\Big{]}\\ +\epsilon^{2}\Big{[}\frac{\partial v_{1}}{\partial\tau}+\frac{\partial v_{2}}{\partial t_{0}}-(g_{u}u_{2}+g_{v}v_{2})-D_{v}(\nabla_{0}^{2}v_{2}+\nabla_{1}^{2}v_{1})\Big{]}=0.\end{array} (20)

Here the Laplacian 2\nabla^{2} is expanded as

2=02+ϵ12,\nabla^{2}=\nabla_{0}^{2}+\epsilon\nabla_{1}^{2}, (21)

considering terms only up to O(ϵ)O(\epsilon), where

02=[1r0r0(r0r0)+1r022θ02],12=[1r0r0(r0r1)+1r022θ12].\begin{array}[]{lcl}\nabla_{0}^{2}=\Big{[}\frac{1}{r_{0}}\frac{\partial}{\partial r_{0}}(r_{0}\frac{\partial}{\partial r_{0}})+\frac{1}{r_{0}^{2}}\frac{\partial^{2}}{\partial\theta_{0}^{2}}\Big{]},\\ \\ \nabla_{1}^{2}=\Big{[}\frac{1}{r_{0}}\frac{\partial}{\partial r_{0}}(r_{0}\frac{\partial}{\partial r_{1}})+\frac{1}{r_{0}^{2}}\frac{\partial^{2}}{\partial\theta_{1}^{2}}\Big{]}.\end{array} (22)

Collecting the O(ϵ)O(\epsilon) terms from Eqs. (19) and (20) we get,

𝐋(𝐮𝟏𝐯𝟏)=(𝟎𝟎),\bf L\begin{pmatrix}u_{1}\\ v_{1}\end{pmatrix}=\begin{pmatrix}0\\ 0\end{pmatrix}, (23)

where

𝐋=(𝐭𝟎𝐚𝟎𝐟𝐮𝐃𝐮𝟎𝟐𝐚𝟎𝐟𝐯𝐠𝐮𝐭𝟎𝐠𝐯𝐃𝐯𝟎𝟐).\bf L=\begin{pmatrix}\frac{\partial}{\partial t_{0}}-a_{0}f_{u}-D_{u}\nabla_{0}^{2}&-a_{0}f_{v}\\ -g_{u}&\frac{\partial}{\partial t_{0}}-g_{v}-D_{v}\nabla_{0}^{2}\end{pmatrix}. (24)

Assuming the trial solution of the following form,

(u1v1)=A(r1,θ1,τ)(u~1v~1)eλt0,\begin{pmatrix}u_{1}\\ v_{1}\end{pmatrix}=A(r_{1},\theta_{1},\tau)\begin{pmatrix}\tilde{u}_{1}\\ \tilde{v}_{1}\end{pmatrix}e^{\lambda t_{0}}, (25)

we obtain the eigenvalue λ\lambda in the absence of diffusion as given by Eq. (5). Eigenvalues become purely imaginary at the Hopf boundary a0a_{0} and the Hopf frequency is given by ωH=a0(fugvfvgu)\omega_{H}=\sqrt{a_{0}(f_{u}g_{v}-f_{v}g_{u})}.

Substituting Eq. (25) into (23) we obtain u~1v~1=λgvgu\frac{\tilde{u}_{1}}{\tilde{v}_{1}}=\frac{\lambda-g_{v}}{g_{u}}, which yields the explicit solutions of u1u_{1} and v1v_{1} as

(u1v1)=A(r1,θ1,τ)(λgvgu)eλt0+c.c.,\begin{pmatrix}u_{1}\\ v_{1}\end{pmatrix}=A(r_{1},\theta_{1},\tau)\begin{pmatrix}\lambda-g_{v}\\ g_{u}\end{pmatrix}e^{\lambda t_{0}}+c.c., (26)

where c.c.c.c. stands for the complex conjugate of the preceding term.

Now, we solve the equation for the next order, O(ϵ2)O(\epsilon^{2}). Collecting the coefficients from Eqs. (19) and (20), we obtain the coupled equations

𝐋(𝐮𝟐𝐯𝟐)=(τ+𝐚𝟏𝐟𝐮+𝐃𝐮𝟏𝟐𝐚𝟏𝐟𝐯𝟎τ+𝐃𝐯𝟏𝟐)(𝐮𝟏𝐯𝟏).\bf L\begin{pmatrix}u_{2}\\ v_{2}\end{pmatrix}=\begin{pmatrix}-\frac{\partial}{\partial\tau}+a_{1}f_{u}+D_{u}\nabla_{1}^{2}&a_{1}f_{v}\\ 0&-\frac{\partial}{\partial\tau}+D_{v}\nabla_{1}^{2}\end{pmatrix}\begin{pmatrix}u_{1}\\ v_{1}\end{pmatrix}. (27)

Since, the operator 𝐋\bf L has zero eigenvalue corresponding to the eigenstate (u1v1)\begin{pmatrix}u_{1}\\ v_{1}\end{pmatrix}, we must apply Fredholm solvability condition to Eq. (27) for the existence of a solution. Accordingly, the R.H.S. of Eq. (27) and the left eigenvector of 𝐋\bf L associated with the zero eigenvalue must be orthogonal, which gives

(u1v1)(τ+a1fu+Du12a1fv0τ+Dv12)(u1v1)=0,\begin{pmatrix}u_{1}^{\dagger}&v_{1}^{\dagger}\end{pmatrix}\begin{pmatrix}-\frac{\partial}{\partial\tau}+a_{1}f_{u}+D_{u}\nabla_{1}^{2}&a_{1}f_{v}\\ 0&-\frac{\partial}{\partial\tau}+D_{v}\nabla_{1}^{2}\end{pmatrix}\begin{pmatrix}u_{1}\\ v_{1}\end{pmatrix}=0, (28)

where ‘\dagger’ denotes the complex conjugate. Substituting Eq. (26) into (28), we obtain,

Aτ=C112A+a1(C2+iC3)A,\frac{\partial A}{\partial\tau}=C_{1}\nabla_{1}^{2}A+a_{1}(C_{2}+iC_{3})A, (29)

where C1=Du(ωH2+gv2)+Dvgu2gu2+gv2+ωH2C_{1}=\frac{D_{u}(\omega_{H}^{2}+g_{v}^{2})+D_{v}g_{u}^{2}}{g_{u}^{2}+g_{v}^{2}+\omega_{H}^{2}}, C2=fu(ωH2+gv2)gufvgvgu2+gv2+ωH2C_{2}=\frac{f_{u}(\omega_{H}^{2}+g_{v}^{2})-g_{u}f_{v}g_{v}}{g_{u}^{2}+g_{v}^{2}+\omega_{H}^{2}} and C3=fvguωHgu2+gv2+ωH2C_{3}=\frac{f_{v}g_{u}\omega_{H}}{g_{u}^{2}+g_{v}^{2}+\omega_{H}^{2}}. Transforming back to the original scales finally we obtain the desired amplitude equation,

At=C1(1rAr+1r22Aθ2)+ϵa1C2A+iϵa1C3A.\frac{\partial A}{\partial t}=C_{1}\Big{(}\frac{1}{r}\frac{\partial A}{\partial r}+\frac{1}{r^{2}}\frac{\partial^{2}A}{\partial\theta^{2}}\Big{)}+\epsilon a_{1}C_{2}A+i\epsilon a_{1}C_{3}A. (30)

The derived equation now can be solved to obtain spirals for which a general solution is assumed of the following form,

A(r,θ,t)=A~(r)ei(ωt+ψ(r)+mθ).A(r,\theta,t)=\tilde{A}(r)e^{i(\omega t+\psi(r)+m\theta)}. (31)

The distance of any point from the core is given by rr and the polar angle around the core is θ\theta. A~(r)\tilde{A}(r) and ψ(r)\psi(r), respectively represent the amplitude and phase of the spiral wave, ω\omega is the wave frequency and mm is the spiral-arm number.

Substituting the general solution (31) into (30) and equating the coefficients of the real and imaginary parts, we obtain

C1m2r2=C1rA~dA~dr+ϵa1C2,ω=C1rdψdr+ϵa1C3.\begin{array}[]{lcl}\frac{C_{1}m^{2}}{r^{2}}=\frac{C_{1}}{r\tilde{A}}\frac{d\tilde{A}}{dr}+\epsilon a_{1}C_{2},\\ \\ \omega=\frac{C_{1}}{r}\frac{d\psi}{dr}+\epsilon a_{1}C_{3}.\end{array} (32)

Now, solving Eq. (32) for A~\tilde{A} and ψ\psi we derive the approximated expression for spiral pattern as,

A~(r)=I1rm2eϵa1C2r2/2C1,ψ(r)=ωϵa1C3C1r22+I2,\begin{array}[]{lcl}\tilde{A}(r)=I_{1}r^{m^{2}}e^{-\epsilon a_{1}C_{2}r^{2}/2C_{1}},\\ \psi(r)=\frac{\omega-\epsilon a_{1}C_{3}}{C_{1}}\frac{r^{2}}{2}+I_{2},\end{array} (33)

where I1I_{1} and I2I_{2} are integration constants.

Refer to caption

Figure 13: Verification of the numerically simulated spiral pattern with the analytically derived solution. Parameter values are fixed at a=2.0,Du=0.01,Dv=0.001a=2.0,D_{u}=0.01,D_{v}=0.001. (a) Spiral pattern obtained directly from numerical simulation, (b) spiral obtained by taking the approximate expression (34) as the initial condition for I1=I2=1.0I_{1}=I_{2}=1.0.

For validation of the obtained solutions we consider as an illustrative example the choice m=1,ϵ=0.01,a1=27.21m=1,\epsilon=0.01,a_{1}=27.21 and calculate C1=3.06×103,C2=4.493×107,C3=0.0635,ωH=0.4788,a0=1.7279C_{1}=3.06\times 10^{-3},C_{2}=4.493\times 10^{-7},C_{3}=-0.0635,\omega_{H}=0.4788,a_{0}=1.7279 for the chosen parameter values and we find

A~(r)=I1reϵa1(7.342×105)r2,ψ(r)=ω+0.0635ϵa16.12×103r2+I2.\begin{array}[]{lcl}\tilde{A}(r)=I_{1}re^{-\epsilon a_{1}(7.342\times 10^{-5})r^{2}},\\ \\ \psi(r)=\frac{\omega+0.0635\epsilon a_{1}}{6.12\times 10^{-3}}r^{2}+I_{2}.\end{array} (34)

As the spiral pattern in the reaction-diffusion system emerges due to the occurrence of Hopf bifurcation, the frequency ω\omega for the spiral pattern is controlled by the Hopf frequency ωH\omega_{H}. So, we choose ω\omega close to ωH\omega_{H} and taking specific values of t,I1,I2t,I_{1},I_{2}, we get O(ϵ)O(\epsilon) approximated solution as u=us+ϵRe(u1),v=vs+ϵRe(v1)u=u_{s}+\epsilon Re(u_{1}),v=v_{s}+\epsilon Re(v_{1}). We consider this approximate expression as the initial condition and perform numerical simulation of the model (1). The resultant spiral pattern as depicted in Fig. 13(b) closely matches with the spiral pattern presented in Fig. 13(a) that is obtained directly from numerical simulation.

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