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A D V A N C ED S E R I ES IN N O N L I N E AR D Y N A M I CS V O L U ME 14 il OPICS IN NONLINEAR T ME SERIES ANALYSIS With Implications for EEG Analysis Andreas Galka World Scientific TOPICS IN NONLINEAR TIME SERIES ANALYSIS ADVANCED SERIES IN NONLINEAR DYNAMICS Editor-in-Chief: R. S. MacKay (Cambridge) Published Vol. 1 Dynamical Systems ed. Ya G. Sinai Vol. 2 Statistical Mechanics ed. Ya G. Sinai Vol. 3 Topics in Bifurcation Theory & Application G. looss & M. Adelmeyer Vol. 4 Hamiltonian Systems & Celestial Mechanics eds. J. Llibre & E. A. Lacomba Vol. 5 Combinatorial Dynamics & Entropy in Dimension 1 L. Alseda at al. Vol. 6 Renormalization in Area-Preserving Maps R. S. MacKay Vol. 7 Structure & Dynamics of Nonlinear Waves in Fluid ed. A. Mielke et al. Vol. 8 New Trends for Hamiltonian Systems & Celestial Mechanics eds. J. Llibre & E. Lacomba Vol. 9 Transport, Chaos and Plasma Physics 2 S. Benkadda, F. Doveil & Y. Elskens Vol. 10 Renormalization and Geometry in One-Dimensional and Complex Dynamics Y.-P. Jiang Vol. 11 Rayleigh-Benard Convection A. V. Getting Vol. 12 Localization and Solitary Waves in Solid Mechanics A. R. Champneys, G. W. Hunt & J. M. T. Thompson Vol. 13 Time Reversibility, Computer Simulation, and Chaos W. G. Hoover Vol. 14 Topics in Nonlinear Time Series Analysis - With Implications for EEG Analysis A. Galka Forthcoming Symplectic Twist Maps C. Gole Wave Collapse E. A. Kuznetsov & V. E. Zakharov Positive Transfer Operators and Decay of Correlations V. Baladi Methods in Equivariant Bifurcation and Dynamical Systems, with Applications P. Chossat & R. Lauterbach Combinatorial Dynamics and Entropy in Dimension One - 2nd Edition L. Alsedb, J. Llibre & M. Misiurewicz ADVANCED SERIES I N NONLINEAR D YNAMIC S V 0 L U M E 1 4 TOPICS IN NONLINEAR TIME SERIES ANALYSIS With Implications for EEG Analysis Andreas Galka Christian-Albrechts-University of Kiel, Germany `A World Scientific Singapore • NewJersey• London • Hong Kong Published by World Scientific Publishing Co. Pte. Ltd. P O Box 128,Farrer Road,Singapore 912805 USA office: Suite 1B, 1060 Main Street,River Edge,NJ 07661 UK office: 57 Shelton Street,Covent Garden,London WC2H 9HE British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library. TOPICS IN NONLINEAR TIME SERIES ANALYSIS With Implications for EEG Analysis Copyright © 2000 by World Scientific Publishing Co. Pte. Ltd. All rights reserved. This book, or parts thereof maynot be reproduced in any form or by any means, electronic or mechanical, including photocopying, recording or any information storage and retrieval system now known or to be invented, without written permission from the Publisher. For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance Center,Inc., 222 Rosewood Drive,Danvers,MA 01923, USA. In thiscase permission to photocopy is not required from the publisher. ISBN 981-02-4148-8 This book is printed on acid and chlorine free paper. Printed in Singaporeby Fulsland Offset Printing He who seeks must not stop seeking until he finds; and when he finds, he will be bewildered; and if he is bewildered, he will marvel, and will be king over the All From the gnostic Gospel of Thomas This page is intentionally left blank Preface This book is the result of my interest in the question, whether the reports of low-dimensional deterministic dynamics in human electroencephalogram (EEG) recordings which were published in increasing numbers since 1985 were indicating a serious new approach for medical diagnosis and brain research. It is for this reason that the book has a twofold intention: First, I have tried to give a review of a number of (more or less) new techniques for nonlinear time series analysis which were developed in the wake of the breakthrough of Nonlinear Dynamics in the Seventies of the 20th century, and secondly I have analysed (and, to some extent, advanced) some of these techniques with a particular view to EEG time series analysis. So I hope that the book will be useful both for the reader who is look- ing for a general introduction into theory and application of some recently introduced techniques for the analysis of complex dynamical data, and also for the reader who is interested especially in the application of these tech- niques to EEG time series analysis. I acknowledge with gratitude the help that I have received from many friends, colleagues and relatives in writing this book. In particular, I would like to thank Stephan Wolff for many helpful discussions, Thorsten MaaB for good cooperation and for the permission to include some of the results of his diploma thesis [1381 into this book, Gunther Fritzer for providing the EEG time series analysed in this study, Gerd Pfister and Ulrich Stephani for putting forward the whole project, Daniel Kaplan for interesting discussions and Oliver Malki for proofreading. vii viii Preface How to read this book A detailed outline of the organisation of this book will be given in section 1.4; here I would like to give some further advice to the reader. Each chapter builds more or less on the preceding chapters, and readers who have sufficient time at their disposal should simply follow the given order; but it is also possible to confine the reading to certain chapters or groups of chapters which provide reviews of specific subjects: • Chapter 2 provides a basic introduction to dynamical systems and time series. • Chapters 4 and 5 provide a review of the important subject of state space reconstruction, both from the theoretical and the applied point of view. This review covers most of the relevant literature published until 1998. • Chapters 6, 8 and 9 deal with correlation dimension estimation, again both from the theoretical and the applied point of view. Prac- tical and theoretical aspects of this subject have been addressed in virtually hundreds of papers by now, and it was my aim to condense the results of this work into a useful review. Nevertheless I will al- most certainly have missed some important contributions, I apolo- gise to the authors (the same remark applies to the other reviews). • Chapter 11 reviews the technique of surrogate data testing. • The first part of chapter 13 summarises a number of techniques for the detection of determinism in time series data. I expect these reviews to be also useful for the reader who is not particularly interested in EEG time series analysis. A review (including critical assess- ment) of some recent approaches to EEG time series analysis can be found in chapter 12. But there will also be occasional references to published work on EEG time series in other chapters. The remaining chapters contain additional material and some original contributions, such as the Monte Carlo analysis in chapter 10 and the inter- spike interval approach in chapter 13; some of these results and proposals are to be regarded as rather tentative and much less well established than the material presented in the review chapters. They are still subject of ongoing work, and I would like to ask the reader to read and rate them with indulgence. A.Q. Contents Preface vii Chapter 1 Introduction 1 1.1 Linearity and the beginning of time series analysis . . . . . . . 1 1.2 Irregular time series and determinism . . . . . . . . . . . . . . 3 1.3 The objective of nonlinear time series analysis . . . . . . . . . . 4 1.4 Outline of the organisation of the present study . . . . . . . . . 5 Chapter 2 Dynamical systems, time series and attractors 9 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Dynamical systems and state spaces . . . . . . . . . . . . . . . 9 2.3 Measurements and time series . . . . . . . . . . . . . . . . . . . 10 2.4 Deterministic dynamical systems . . . . . . . . . . . . . . . . . 12 2.4.1 Attractors . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.4.2 Linear systems . . . . . . . . . . . . . . . . . . . . . . . 15 2.4.3 Invariant measures . . . . . . . . . . . . . . . . . . . . . 15 2.4.4 Sensitive dependence on initial conditions . . . . . . . . 18 2.4.5 Maps and discretised flows . . . . . . . . . . . . . . . . 19 2.4.6 Some important maps . . . . . . . . . . . . . . . . . . . 21 2.4.7 Some important flows . . . . . . . . . . . . . . . . . . . 24 2.5 Stochastic dynamical systems . . . . . . . . . . . . . . . . . . . 28 2.5.1 Pure noise time series . . . . . . . . . . . . . . . . . . . 29 2.5.2 Noise in dynamical systems . . . . . .. . . . . . . . .. 30 2.5.3 Linear stochastic systems . . . . . . . . . . . . . . . . . 31 2.6 Nonstationarity . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 ix

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