Non computable Mandelbrot-like set for a one-parameter complex family
Daniel Coronel, Cristobal Rojas, Michael Yampolsky

TL;DR
This paper demonstrates that for certain computable complex parameters, the bifurcation locus of a specific one-parameter complex family is not Turing computable, revealing limits of algorithmic predictability in complex dynamics.
Contribution
It establishes the existence of computable parameters where the bifurcation locus is non-Turing computable, highlighting fundamental limits in computational complex dynamics.
Findings
Existence of non-Turing computable bifurcation loci for certain parameters
Identification of computable complex numbers with non-computable bifurcation sets
Advancement in understanding the computational complexity of dynamical systems
Abstract
We show the existence of computable complex numbers for which the bifurcation locus of the one parameter complex family is not Turing computable.
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Taxonomy
TopicsComputability, Logic, AI Algorithms · Mathematical Dynamics and Fractals · Cellular Automata and Applications
Non computable Mandelbrot-like set for a one-parameter complex family
Daniel Coronel, Cristobal Rojas, and Michael Yampolsky
Abstract.
We show the existence of computable complex numbers for which the bifurcation locus of the one parameter complex family is not Turing computable.
D.C. and C.R were partially supported by project DI-782-15/R Universidad Andrés Bello and Basal PFB-03 CMM-Universidad de Chile. M.Y. was partially supported by NSERC Discovery grant.
1. Introduction
For a complex quadratic map , recall that the filled Julia set corresponds to the set of points whose orbit under iterations by remains bounded, and that the Julia set is defined as the boundary of . Let us also recall that the Mandelbrot set is defined to be the connectedness locus of the family : the set of complex parameters for which the Julia set is connected. The boundary of corresponds to the parameters near which the geometry of the Julia set undergoes a dramatic change. For this reason, its boundary is referred to as the bifurcation locus. The Mandelbrot set is widely known for the spectacular beauty of its fractal structure, and an enormous amount of effort has been made in order to understand its topological and geometrical properties. This effort has greatly relied on computer simulations, and it is most natural to ask whether these simulations can be trusted. A form of this question was first asked by Penrose in [14] and has been a subject of much interest.
The central open conjecture in complex dynamics is known as Density of Hyperbolicity Conjecture. This conjecture is widely expected to be true, and postulates that is the closure of the open set of parameter values for which exhibits hyperbolic dynamics. The latter simply means that on a neighborhood of for some . In [10], Hertling demonstrated that Density of Hyperbolicity Conjecture implies that Mandelbrot set as well as its boundary, the bifurcation locus , are rigorously computable.
In this paper we show that such a computability property cannot be taken for granted. We consider a different one-parameter family of complex dynamical systems, studied by X. Buff and C. Henriksen in [7]:
[TABLE]
where satisfies . We denote by the connectedness locus of the family, that is, the set of complex parameters for which the Julia set is connected.
Our main result is the following.
Main Theorem. There exists a computable (by an explicit algorithm) value of such that the bifurcation locus is not computable.
A principal result of [7] is that for each of modulus 1, the bifurcation locus contains quasi-conformal copies of the quadratic Julia set (see Figure 1 for an illustration). The proof of the Main Theorem relies on a computable version of this statement, which is our principal technical result.
2. Preliminaries on Computability
2.1. Rudiments of Computable Analysis and applications to Julia sets
We give a very brief summary of relevant notions of Computability Theory and Computable Analysis. For a more in-depth introduction, the reader is referred to [17, 6]. As is standard in Computer Science, we formalize the notion of an algorithm as a Turing Machine [16].
We will call a function computable (or recursive), if there exists an algorithm which, upon input , outputs .
Extending algorithmic notions to functions of real numbers was pioneered by Banach and Mazur [2, 12], and is now known under the name of Computable Analysis. Let us begin by giving the modern definition of the notion of computable real number, which goes back to the seminal paper of Turing [16]. By identifying with through some effective enumeration, we can assume algorithms can operate on .
Definition 2.1**.**
A real number is called computable if there is a computable function such that
Algebraic numbers or the familiar constants such as , , or the Feigembaum constnt [11] are all computable. However, the set of all computable numbers is necessarily countable, as there are only countably many computable functions.
For more general objects, computability is typically defined according to the following principle: object is computable if there exists an algorithm which, upon input , outputs a finite suitable description of at precision . In this case we say that algorithm computes object .
For instance, computability of compact subsets of is defined as follows. Recall that Hausdorff distance between two compact sets , is
[TABLE]
where stands for an -neighbourhood of a set.
We say that is computable if there exists an algorithm which, upon input , outputs a finite set of points with rational coordinates such that
[TABLE]
An equivalent, and more intuitive, way of defining a computable set is the following. Let us say that a pixel is a dyadic cube with side and dyadic rational vertices. A set is computable if there exists an algorithm which given a pixel with side outputs [math] if the center of the pixel is at least -far from , outputs if the center is at most -far from , and outputs either [math] or in the “borderline” case. In other words, we can visualise on a computer screen and zoom-in with arbitrarily high magnification.
In this paper we will speak of uniform computability whenever a group of computable objects (functions, sets, etc) is computed by a single algorithm:
the objects are computable uniformly on a countable set if there exists an algorithm with an input , such that for all , computes .
For instance, a sequence of computable points is uniformly computable if there is a single algorithm which for every and outputs a rational number satisfying .
Open sets can be described by means of rational balls: balls with rational centres and radii. An open set is called lower-computable or recursively enumerable (r.e.) if it is the union of a computable sequence of rational balls. A function is a computable function on some set if the preimages of rational balls are uniformly lower-computable open (in ) sets. That is, if there are uniformly lower-computable open sets such that , where is an enumeration of all the rational balls. It can be verified that this definition of computability for a function is equivalent to being able to compute in the following sense: given an arbitrarily good approximation of the input of in , it is possible to algorithmically approximate the value of with any desired precision. Computability of functions and open sets of , , etc…, is defined in a similar fashion. We refer to [17].
We will use the following terminology. A compact set is lower computable if there is a sequence of uniformly computable points which is dense in . It is called upper-computable if its complement is a lower-computable open set.
Example 2.1**.**
The filled Julia set of a computable polynomial on is always upper computable. For, let be a closed rational ball containing . Then, which, since is a recursively enumerable open set and is computable, is an upper computable set.
Example 2.2**.**
The Julia set is always a lower computable set. Indeed, it is not hard to see that the set of repelling periodic points of a computable polynomial can be algorithmically enumerated (periodic points are uniformly computable, as well as their multipliers) and it is well known that this is a dense subset of .
The following well known characterization of computable compact sets will be used in the sequel.
Proposition 2.1**.**
A compact set is computable if and only if it is simultaneously lower and upper computable.
As an immediate corollary, we obtain computability of some Julia sets (see [3]):
Corollary 2.2**.**
Let be a computable complex polynomial such that the filled Julia set has empty interior. Then, the Julia set is computable.
However, in general, Julia sets need not be computable sets, as it was shown in [4]:
Theorem 2.3**.**
There exists computable parameters , with , such that the Julia set of the polynomial is not computable.
This result will play an essential role in the proof of our Main Theorem.
2.2. Some lemmas on computable maps
Here we gather a number of elementary results in computable analysis that will be required later in the paper.
Lemma 2.4**.**
Let be a compact set. Suppose is computable. Then there exists an algorithm which takes as input any finite list of rational balls and halts if and only if they cover . In this case, we say that the relation is semi-decidible.
The proof is straightforward and will be left to the reader.
Lemma 2.5** (Computable extension).**
Suppose is a lower computable compact set. Let be a continuous function which is computable on a dense collection of points in which are uniformly computable. Suppose in addition that has a computable modulus of continuity, that is, there is a computable function which is non deceasing and satisfies
[TABLE]
for all in . Then, is computable.
Proof.
Let be the dense set on which is computable and let be any point in . To compute at a given precision, it suffices to compute such that is small enough, and then output at a sufficiently high precision. ∎
Lemma 2.6** (Computable inverse).**
Let be a lower computable domain and let be a computable compact set in . Let be a homeomorphism which is computable on . Then, the inverse is also a computable homeomorphism.
Proof.
Let be a given point. We show how to compute from such that . The set is recursively enumerable, uniformly in . Since is computable on , there is a recursively open set such that . But since is a homeomorphism, for some . Note that now we can semi-decide whether for any rational ball , since this is the case if and only if together with form a covering of . To compute at a given precision, just enumerate all balls with diameter less than this precision and semi-decide whether they contain . ∎
Lemma 2.7** (Computable images).**
Let be a lower computable domain, and let be a computable compact set. Let be a continuous function. Then, if is computable on , its image is a computable compact set.
Proof.
Since is in particular lower computable, we can uniformly compute a sequence of points which is dense in . The sequence is therefore a computable sequence which is dense in . This shows that is lower-computable. Since is upper-computable, its complement is a r.e. open set. We now show how one can enumerate a sequence of rational balls in whose union exhausts , thus proving computability of . Let be a rational ball in and denote by its closure. It is easy to see that is disjoint from if and only if . Note that is a r.e. open set. Now, computability of on means that for any r.e. open one can uniformly lower compute a set satisfying . In particular, this implies that a r.e. open set covers if and only if covers , which is a semi-decidable relation when is computable. It follows that we can semi-decide if a given r.e. open set covers . This implies that we can enumerate all the balls whose closure is disjoint from , which constitutes a list of balls exhausting the complement of , and the lemma is proved. ∎
3. Preliminaries on dynamics of complex polynomials.
In this section we introduce the tools of complex dynamics that will be used in the proof of our main result. We refer the reader to [13] for an in-depth introduction into the subject; the specific facts on the dynamics of can be found in [7].
3.1. Green’s function and Böttcher coordinate.
Let be a positive integer larger than 1, and let be a complex monic polynomial of degree . Denote by by the filled Julia set of ; that is, the set of all points in whose forward orbit under is bounded in . The set is compact and its complement is the connected set consisting of all points whose orbit converges to infinity in the Riemann sphere. Furthermore, we have and . The boundary of is the Julia set of .
Recall that the Green’s function of is the function that is identically [math] on and that for outside is given by the limit
[TABLE]
The function is continuous, subharmonic, satisfies on , and it is harmonic and strictly positive outside .
It is easy to see that the Julia set of a complex polynomial is connected if and only if every critical point has a bounded orbit. In this case, the unique conformal isomorphism
[TABLE]
conjugates to . It is called the (normalized) Böttcher coordinate of at infinity and satisfies .
The definition of the Böttcher coordinate can be extended to the case of a disconnected Julia set as follows. It is well known that is connected if and only if all critical values of lie inside . Let be the critical value of such that is maximal. Then the domain
[TABLE]
is homeomorphic to a punctured disk. We then define as the unique conformal isomorphism
[TABLE]
with and . It is not hard to see that still conjugates to .
Let be the union of the critical points of in and the stable manifolds of the gradient flow of on . Denote the open set . The Böttcher coordinate extends to an analytic map and satisfies on .
By definition, for the equipotential of level of is the set . A Green’s line of is a smooth curve on the complement of in that is orthogonal to the equipotentials of and that is maximal with this property. Note that in the case when is connected, every Green’s line must accumulate inside the Julia set . If is not connected, some Green’s lines will terminate at escaping critical points of and their preimages.
Given in , the external ray of angle of , denoted by , is the Green’s line of containing
[TABLE]
By the identity , for each and each in the map maps the equipotential to the equipotential and maps to . For in the external ray lands at a point , if is a bijection and if converges to as converges to [math] in . By the continuity of , every landing point is in .
We use the following simple fact several times.
Lemma 3.1**.**
Let be a complex monic polinomial of degree , let be in and suppose that the external ray lands at a point of which is not a critical value of ; so consists of distinct points. Then each point of is the landing point of precisely one of the external rays , for .
3.2. Dynamics of maps
Let us fix a , and consider the family
[TABLE]
as above. For every in the polynomial has two critical points (counted with multiplicity) and one indifferent fix point at 0. It is known that the presence of this indifferent fixed point forces at least one of these critical points to have a bounded orbit. When , these two critical points are equal, and therefore both have a bounded orbit. It follows that . When , the two critical points are different.
In the case when , let us denote the critical point with bounded orbit, and the other, escaping, critical point. The critical value has two preimages. We call co-critical point the preimage of which is different from , and we denote it by .
The map
[TABLE]
is a conformal isomorphism. For the equipotential of is by definition
[TABLE]
On the other hand, for in the set
[TABLE]
is called the external ray of angle of . We say that lands at a point in if converges to as . When this happens belongs to .
Let be the parameter with potential and external angle . Let denote the open set . Note that the equipotential of level is a real-analytic simple closed curve, and thus is a topological disk. The set is the set which is bounded by a lemniscate pinching at the escaping critical point . Let be the connected component of that contains the non-escaping critical point . We will denote by the restriction of to . The filled Julia set is defined as the set of points in that remain in under iterations by . The Julia set is the boundary of .
The following result, extracted from [7], states that is a quasi-conformal copy of .
Theorem 3.2**.**
There exist a quasi-conformal homeomorphism which conjugates to on their Julia sets.
It will not be necessary to give the definition of a quasi-conformal homeomorphism here since all what we will need is the following standard property of such maps (see e.g. [1]):
Proposition 3.3**.**
A quasi-conformal map from a topological disk into itself is Hölder-countinuous. More precisely, there exist constants such that for every in
[TABLE]
Buff and Henriksen also give a characterisation of as the landing points of a particular set of dynamical rays that we now describe. Let be the set of angles such that for every integer we have mod 1. It is a Cantor set forward invariant under multiplication by . It is shown in [7] that for any , the dynamical ray does not bifurcate, and that the set defined by
[TABLE]
satisfies .
3.3. Julia sets in
The parameter rays and both land at the parameter , see [7]. The wake is defined as the connected component of
[TABLE]
containing the ray .
Every dyadic number and can be expressed in a unique way as a finite sum
[TABLE]
where each take the value 0 or 1. We define and by the formulae:
[TABLE]
Proposition 12 in [7].* Given any dyadic angle the two parameter rays and land at a common point . Moreover,*
[TABLE]
The wake is defined as the connected component of
[TABLE]
that contains the parameter ray with in . We now can define to be the set of parameter rays
[TABLE]
and let to be the set , where the closure is taken in .
Let be a quasi-conformal extention of the holomorphic motion defined by . By [7, Lemma 13] the map defined by
[TABLE]
is locally quasi-regular, and its restriction to the dyadic wake is a locally quasi-conformal homeomorphism sending to .
4. Proof of the Main Theorem
4.1. Computable Böttcher’s coordinate
Let
[TABLE]
be a polynomial of degree . Let be the Böttcher’s coordinate of at infinity, and, as before, let
[TABLE]
where is the union of the critical points of in and the stable manifolds of the gradient flow of on . The main result of this subsection is the following.
Proposition 4.1** (Computability of Böttcher’s coordinate).**
Let be a computable monic polynomial of degree . The open set is lower-computable and the Böttcher coordinate is computable on .
The proof of this proposition will be given after the following sequence of lemmas.
Lemma 4.2**.**
There is such that the Böttcher’s coordinate is computable on .
Proof.
For sufficiently large the Böttcher coordinate can be written as a infinite product as follows:
[TABLE]
For example, if , then by induction we have that for ,
[TABLE]
and thus, the principal value of the -root is defined. Taking logarithm of the absolute value one can see that the corresponding series converges and thus, the product also converges. For computing the rate of convergence put
[TABLE]
Notice that
[TABLE]
This implies that
[TABLE]
and
[TABLE]
Thus,
[TABLE]
∎
Lemma 4.3**.**
The Green’s function is computable on .
Proof.
For in and for every in we have
[TABLE]
For we have by induction that if then
[TABLE]
This implies that
[TABLE]
∎
Proof of Proposition 4.1.
Let be a positive number such that the Böttcher coordinate is computable on . Now consider the flow associated to the gradient vector field on the complement of . Since is analytic the dependence on of the flow is also analytic. Observe that for every we have that
[TABLE]
Thus, for every in there is sufficiently large such that . It follows that the map
[TABLE]
is a holomorphic extension of the Böttcher coordinate to and so it must be equal to on . On the other hand, since is computable and analytic it follows that is also computable and effectively locally Lipschitz on the complement of (see [15, Theorem 2] and [8, Theorem 1]) which is recursively enumerable open. Thus, by [8, Theorem 3] for every the map is computable. This implies that we can semi-decide whether , which is equivalent to say that is lower-computable open. Moreover, using that is computable we conclude that the extension of the Böttcher coordinate on is also computable. ∎
4.2. Computable external rays and their landing points
Lemma 4.4** (Computable inverse branches).**
Let be a computable polynomial of degree and let be a fixed point of which is not a critical value. Then, one can uniformly compute positive real numbers and points in such that:
- •
* for ,*
- •
the open disks , are pairwise disjoint and
- •
* restricted to each is conformal and for .*
Moreover, the inverse branches of are all computable, uniformly in .
Proof.
Since is not a critical value, it has exactly different preimages, one of which is (since it is fixed). Let be the other preimages. Since has finitely many critical values, all of which are computable, we can compute such that is at some positive distance away from the collection of critical values. Then, the open set consist of exactly connected components, each of which contains one of the , . Clearly, now we can compute numbers such that is included in the component containing . By construction, is conformal on each . Moreover, by Theorem 4.5 from [9], and its inverse is also computable, uniformly in . The lemma is proved. ∎
Let be such that lands. For an interval we will denote by the ray segment defined by
[TABLE]
Lemma 4.5** (Effective landing).**
Let be a computable polynomial of degree and let be a fixed point of such that . Suppose that the dynamical ray lands at and that is a computable angle. Then the set is a computable compact set.
Proof.
By Proposition 4.1 we can compute a dense sequence of points in , for instance by computing the sequence where is a computable sequence of rationals which is dense in . This sequence is of course also dense in , which is therefore a lower-computable set. We now show that it is also upper computable. Since , it follows that is an attracting fixed point for the the inverse branch of that leaves fixed. Moreover, we can compute a neighbourhood of such that its closure shrinks to under iterates by . Indeed, we could take for instance to be the open disk centred at with radius . Since is lower-computable, we can find a point which belongs to . Let be the level of the equipotential line containing . That is, . Since the ray is invariant under iterations by , we have that , and since conjugates to , we obtain that
[TABLE]
Now, compute the ray segment which goes from to in . This is clearly a computable closed set. Thus, by lemma 2.4, we can semi-decide if it is contained in . In a dovetail fashion, semi-decide whether is contained in , for larger and larger . Since lands at , this procedure must eventually stop for some . Let and denote by the ray segment . Let so that is completely contained in . Since the region is trapping, it follows that all the iterates of by are contained in and thus, so is . Let . Since as , one has that
[TABLE]
But the sets in the union of the right-hand side are all recursively enumerable open sets, uniformly in . The lemma follows. ∎
Lemma 4.6** (Effective pairing).**
Let , and be as in the previous lemma. Then, one can uniformly compute angles in and points in such that is precisely the landing point of , for .
Proof.
For , let , and as in Lemma 4.4. By Lemma 3.1, each is the landing point of exactly one of the rays for . Since the angles are all computable, all we need to do is to decide, for each , which of the rays is the one landing at . By Lemma 4.5, the set is a computable closed set. It is easy to see that one can compute such that is contained in . Now, for each , the set is a computable closed set which is contained in the ray landing at . To compute , just choose any point different from and compute its external angle. This is . ∎
4.3. Proof of the Main Theorem
The proof will follow from the following two lemmas.
Lemma 4.7**.**
Let be the quasi-conformal homeomorphism of Lemma 3.2, conjugating the to on their Julia sets. Suppose that is computable and . Then is computable on .
Proof.
Recall that by Lemma 3.2 there exist a quasi-conformal function that conjugates to . We show how to compute this function on by computing it on a dense set of points, and then invoking Lemma 2.5 with any bound on the uniform modulus of continuity of , which exists because of the Holder property of quasi-conformal maps (see Proposition 3.3). The dense set will be given by the fixed point of , together with all their preimages under . Since is a conjugacy, this set is sent to the set of pre-images of the fixed point of . Since these fixed points are computable, so are the sets of preimages. Thus, it is enough to show how to algorithmically decide, for a given preimage of , which preimage of it goes to. To achieve this, we use the external arguments of the points: on one side we start with (which lands at ), whose preimages are and (which lands at , the preimage of different from it). Then (which lands at one preimage of ) and (which lands at the other preimage of ) and so on. On the other side these are , then and , then and and so on. By respecting the orientation, we can pair the angles on different sides. If, moreover, we were able to pair preimages of the fixed point with the external ray landing at them, we could then pair the preimages of the -fixed point with the corresponding preimages of the fixed point. But this is precisely given by Lemma 4.6, and so the proof is finished. ∎
Lemma 4.8**.**
The map is computable on the closure of . Moreover, the restriction of to the closure of has a computable inverse.
Proof.
By Proposition 4.1, the mappings , and their inverses are computable on their domains , uniformly in and . Hence, holomorphic motion is computable too. Recall that . Since for , to prove computability of the map on it is enough to show that the critical point is computable from . But the collection of critical points is always computable from , and we can identify the escaping one. Now, since is quasi-conformal, it has the holder property on some large enough ball and therefore, by Lemma 3.3, its computability can be extended up to the closure of . It follows that the restriction of to the closure of is computable homeomorphism. Computable inverse will follow from Lemma 2.6. However, note that we can not apply it directly to the closure of because it may not be a computable set (it may not be upper-computable). Instead, we first note that since is a recursively enumerable open set, we can produce a sequence of computable compact sets whose union equals . We can then apply Lemma 2.6 to each of these set, which proves that the inverse is computable on . But we can now apply Lemma 3.3 to this inverse, which proves that its computability can be extended to the closure, as was to be shown. ∎
Lemma 4.9**.**
If is upper-computable, then so is .
Proof.
Suppose is upper computable. We only need to show that we can enumerate a sequence of balls in whose union exhaust the complement of . This complement is made by the complement of , the complement of the mini-wake , and the collection of the unbounded components of . The complement of is recursively enumerable by hypothesis.
Recall that the dynamical rays and both land at the fixed point of . Thus, the curve cuts the plane into two connected components and . Let be the one containing the escaping critical point . To see that the complement of the mini-wake is also recursively enumerable, we use the fact that maps (respectively ) to (respectively ). This is shown in the proof of Lemma 13 from [7]. In particular, maps the parameter rays to the dynamical rays and . Now, let be some computable ball containing and consider the set . By Lemma 4.5, it is straightforward to see that the curve is a computable set. Since the inverse of is computable there (by Lemma 4.8), we see by Lemma 2.7 that is also a computable set. It is now straightforward to see that the complement of the mini-wake is recursively enumerable. It remains to show that the collection of unbounded components of is uniformly recursively enumerable. Recall that these components correspond to preimages by of the unbounded components of . But these components are precisely given by the preimages of by iterates of . Note that, by Lemma 4.5 again, the set is computable, and using Lemma 4.4, we see that their preimages by are computable too and thus so are the preimages of these by . Moreover, by taking any computable point in the bounded component of the complement of , we see that the interior of this last collection can be uniformly enumerated, from which it is straightforward to see that the unbounded components of can be uniformly recursively enumerated, as it was to be shown.
∎
We are now ready to finish the proof of our main result.
Theorem 4.10**.**
There exists a computable such that the bifurcation locus is not computable.
Proof.
By Theorem 2.3, there exist a computable such that is not computable. By Lemma 4.7 and Lemma 2.7, the Julia set of is not computable either. We prove that the preimage of this set by is not computable. It is enough to show that the map is computable on this preimage. From the proof of Lemma 4.9 we see that is computable on the closure of , which contains . By Lemma 2.7, is not computable, and the Theorem now follows from Lemma 4.9. ∎
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