3. The Anthropocene
Social challenge: Understand patters of
causes and consequences of regime shifts
How common they are?
What possible interactions?
Where are they likely to occur?
Who will be most affected?
What can we do to avoid them?
Sunday, September 1, 13
4. Regime Shifts
Regime shifts are abrupt reorganization of a
system’s structure and function. A regime
correspond to characteristic behavior of the
system maintained by mutually reinforcing
processes or feedbacks. The shift occurs when
the strength of such feedbacks change, usually
driven by cumulative change in slow variables,
external disturbances or shocks.
collapse
collapse
recovery
Precipitation
Vegetation
Precipitation
Vegetation
PrecipitationVegetation
Precipitation
Vegetation
Precipitation Precipitation Precipitation Precipitation
low high low high low high low high
Vegetation
low
high
Gradual Threshold
Vegetation
low
high
Vegetation
low
high
Vegetation
low
high
Hystersis Irreversible
Stability
Landscape
Equilibria
(Gordon et al 2008)
Sunday, September 1, 13
5. Regime Shifts
Regime shifts are abrupt reorganization of a
system’s structure and function. A regime
correspond to characteristic behavior of the
system maintained by mutually reinforcing
processes or feedbacks. The shift occurs when
the strength of such feedbacks change, usually
driven by cumulative change in slow variables,
external disturbances or shocks.
external forcing reverses, the response variable will flip back to the original equilibrium, but at a different
Fig. 3. Catastrophe manifold illustrating that the three types of regime shifts are special cases along a continuum of internal ecosystem
structure. Adapted from Jones and Walters (1976).
J.S. Collie et al. / Progress in Oceanography 60 (2004) 281–302 287
(Collie 2004)
Sunday, September 1, 13
6. Regime Shifts
Regime shifts are abrupt reorganization of a
system’s structure and function. A regime
correspond to characteristic behavior of the
system maintained by mutually reinforcing
processes or feedbacks. The shift occurs when
the strength of such feedbacks change, usually
driven by cumulative change in slow variables,
external disturbances or shocks.
Science challenge: understand multi-
causal phenomena where experimentation
is rarely an option and time for action a
constraint
Sunday, September 1, 13
7. 1. A comparative framework: The database
2. Global drivers of Regime Shifts
3. Future developments
Sunday, September 1, 13
9. Regime Shifts DataBase
The shift substantially affect the
set of ecosystem services
provided by a social-ecological
system
Established or proposed
feedback mechanisms exist
that maintain the different
regimes.
The shift persists on time scale
that impacts on people and
society
Sunday, September 1, 13
17. Mechanism
Existence
Well
established
Proposed
Contested
Contested
Proposed
Well established
Soil structure
Marine foodwebs
Monsoon weakening
Termohaline circulation
Encroachment
Fisheries collapse
Dryland degradation
Forest to savanna
Steppe to tundra
Tundra to forest
Floating plants
Greenland
Arctic sea ice
Bivalves collapse
Coral transitions
Eutrophication
Hypoxia
Kelps transitions
Peatlands
River channel change
Salt marshes
Soil salinization
Sunday, September 1, 13
18. Regime Shifts DataBase
Ecosystem services
Drivers ...
Biodiversity
Primary production
Nutrient cycling
Water cycling
Soil Formation
Fisheries
Wild animals and plants food
Freshwater
Foodcrops
Livestock
Timber
Woodfuel
Other crops
Hydropower
Water purification
Climate regulation
Regulation of soil erosion
Pest and disease regulation
Natural hazard regulation
Air quality regulation
Pollination
Recreation
Aesthetic values
Knowledge and educational values
Spiritual and religious
Livelihoods and economic activity
Food and nutrition
Cultural, aesthetic and recreational values
Security of housing and infrastructure
Health
Social confict
No direct impact
0 8 15 23 30
Ecosystem Services
Supporting
Provisioning
Regulating
Cultural
Human well being
Sunday, September 1, 13
19. Regime Shifts DataBase
Ecosystem services
Drivers ...
0.0 0.2 0.4 0.6 0.8 1.0
0.00.20.40.60.81.0
Proportion of Regime Shifts (n=20)
ProportionofDriverssharingcausalitytoRegimeShifts(n=55)
Agriculture
Atmospheric CO2
Deforestation
Demand
Droughts
Fishing
Global warming
Human population
Nutrients inputs
Urbanization
Sunday, September 1, 13
20. Forks: when sharing a driver
synchronize two regime shifts
Causal chains: the domino
effect
Inconvenient feedbacks: when
two shifts reinforce or dampen
each other
RS1 RS2 RS3
D1
RS1 RS2D1 ...
RS1
RS2
D2D1
Cascading effects
Arctic Icesheet collapse
Bivalves collapse
Coral bleaching
Coral transitions
Desertification
Encroachment
Eutrophication
Fisheries collapse
Floating plants
Foodwebs
Forest to cropland
Forest to savanna
Greenland icesheet collapse
Hypoxia
Kelp transitions
Monsoon
Peatlands
Soil salinization
Soil structure
Thermohaline
Tundra to forest
Arctic salt marsh
River channel change
Sunday, September 1, 13
21. Challenges
We developed a framework to
compare regime shifts
Issues of consistency:
Drivers
CLD
System boundaries
Uncertainty assessment:
strength of feedbacks and the
role of social dynamics
Methods to identify leverage
points for management
Sunday, September 1, 13
29. Agriculture
Atmospheric CO2
Deforestation
Demand
Droughts
Fishing
Global warming
Human population
Nutrients inputs
Urbanization
Global drivers of Regime Shifts
Food production & climate change
are the most important drivers or
regime shifts globally
Only 5 out of 55 drivers cause
>50% of the 20 regime shifts
analyzed.
11 drivers interact with >50% of
other drivers when causing regime
shifts.
Sunday, September 1, 13
31. Bivalves collapse
Coral transitions
Dry land degradation Encroachment
Eutrophication
Fisheries collapse
Floating plants
Forest to savannas
Greenland
Hypoxia
Kelps transitions
Marine foodwebs
Monsoon weakening
Peatlands
River channel change
Salt marshes
Soil salinization
Soil structure
Thermohaline circulation
Tundra to Forest
Marine regime shifts tend to
share significantly more drivers
and tend to have similar
feedback mechanisms,
suggesting they can
synchronize in space and time.
By managing key drivers
several regime shifts can be
avoided in aquatic systems.
Terrestrial regime shifts share
less drivers. Higher diversity of
drivers makes management
more context dependent.
How drivers tend to interact?
Sunday, September 1, 13
32. What does it mean for management?
Floating plants
Bivalves collapse
Eutrophication
Fisheries collapse
Coral transitions
Hypoxia
Encroachment
Salt marshes
Soil salinization
Soil structure
Forest to savannas
Dry land degradation
Kelps transitions
Monsoon weakening
Peatlands
Marine foodwebs
Greenland
Thermohaline circulation
River channel change
Tundra to Forest
Local
National
International
Drivers by Management Type
Proportion of RS Drivers
0.0 0.2 0.4 0.6 0.8 1.0
Half of the drivers of 75% of
the regime shifts require
international cooperation to
manage them.
Given the high diversity of
drivers, focusing on well
studied variables (e.g.
nutrients inputs) wont preclude
regime shifts from happening.
Avoiding regime shifts calls for
poly-centric institutions.
Sunday, September 1, 13
33. Regime shifts are tightly connected both when sharing drivers and their
underlying feedback dynamics. The management of immediate causes
or well studied variables might not be enough to avoid such
catastrophes.
Food production and climate change are the main causes of regime
shifts globally.
Marine regime shifts share more drivers, while terrestrial regime shifts are
more context dependent.
Management of regime shifts requires multi-level governance:
coordinating efforts across multiple scales of action.
Network analysis is an useful approach to study regime shifts couplings
when knowledge about system dynamics or time series of key variables
are limited.
Conclusions
Sunday, September 1, 13
35. Methods
• Bipartite network and one-
mode projections: 20
Regime shifts + 55 Drivers
• 104 random bipartite graphs
to explore significance of
couplings: mean degree and
co-occurrence statistics on
one-mode projections.
• ERGM models using Jaccard
similarity index on the RSDB
as edge covariates
Regime shiftsDrivers
A 1 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1
B 1 0 0 0 1 1 0 0 1 1 1 0 0 1 0 1
C
Regime Shift Database
Ecosystem services
Ecosystem processes
Ecosystem type
Impact on human well being
Land use
Spatial scale
Temporal scale
Reversibility
Evidence
...
Sunday, September 1, 13
36. Causal-loop diagrams is a
technique to map out the
feedback structure of a system
(Sterman 2000)
Work in Progress
Causal Networks: Cascading effects and regime shifts controllability
Sunday, September 1, 13
38. ARTICLE doi:10.1038/nature10011
Controllability of complex networks
Yang-Yu Liu1,2
, Jean-Jacques Slotine3,4
& Albert-La´szlo´ Baraba´si1,2,5
The ultimate proof of our understanding of natural or technological systems is reflected in our ability to control them.
Although control theory offers mathematical tools for steering engineered and natural systems towards a desired state, a
framework to control complex self-organized systems is lacking. Here we develop analytical tools to study the
controllability of an arbitrary complex directed network, identifying the set of driver nodes with time-dependent
control that can guide the system’s entire dynamics. We apply these tools to several real networks, finding that the
number of driver nodes is determined mainly by the network’s degree distribution. We show that sparse
inhomogeneous networks, which emerge in many real complex systems, are the most difficult to control, but that
dense and homogeneous networks can be controlled using a few driver nodes. Counterintuitively, we find that in
both model and real systems the driver nodes tend to avoid the high-degree nodes.
Accordingtocontroltheory,adynamicalsystemiscontrollableif,witha
suitable choice of inputs, it can be driven from any initial state to any
desired final state within finite time1–3
. This definition agrees with our
intuitive notion of control, capturing an ability to guide a system’s
behaviourtowardsadesiredstatethroughtheappropriatemanipulation
of a few input variables, like a driver prompting a car to move with the
desired speed and in the desired direction by manipulating the pedals
and the steering wheel. Although control theory is a mathematically
highly developed branch of engineering with applications to electric
circuits, manufacturing processes, communication systems4–6
, aircraft,
spacecraft and robots2,3
, fundamental questions pertaining to the con-
trollabilityofcomplex systemsemerging in nature andengineering have
resisted advances. The difficulty is rooted in the fact that two independ-
ent factors contribute to controllability, each with its own layer of
unknown: (1) the system’s architecture, represented by the network
encapsulating which components interact with each other; and (2) the
dynamical rules that capture the time-dependent interactions between
thecomponents.Thus,progresshasbeenpossibleonlyinsystemswhere
both layers are well mapped, such as the control of synchronized net-
works7–10
, small biological circuits11
and rate control for communica-
tion networks4–6
. Recent advances towards quantifying the topological
characteristics of complex networks12–16
have shed light on factor (1),
prompting us to wonder whether some networks are easier to control
than others and how network topology affects a system’s controllability.
Despite some pioneering conceptual work17–23
(Supplementary
Information, section II), we continue to lack general answers to these
questions for large weighted and directed networks, which most com-
monly emerge in complex systems.
Network controllability
Most real systems are driven by nonlinear processes, but the controll-
ability of nonlinear systems is in many aspects structurally similar to
that of linear systems3
, prompting us to start our study using the
of traffic that passes through a node i in a communication network24
or transcription factor concentration in a gene regulatory network25
.
The N 3 N matrix A describes the system’s wiring diagram and the
interaction strength between the components, for example the traffic
on individual communication links or the strength of a regulatory
interaction. Finally, B is the N 3 M input matrix (M # N) that iden-
tifies the nodes controlled by an outside controller. The system is
controlled using the time-dependent input vector u(t) 5 (u1(t), …,
uM(t))T
imposed by the controller (Fig. 1a), where in general the same
signal ui(t) can drive multiple nodes. If we wish to control a system, we
first need to identify the set of nodes that, if driven by different signals,
can offer full control over the network. We will call these ‘driver
nodes’. We are particularly interested in identifying the minimum
number of driver nodes, denoted by ND, whose control is sufficient
to fully control the system’s dynamics.
The system described by equation (1) is said to be controllable if it
can be driven from any initial state to any desired final state in finite
time, which is possible if and only if the N3 NM controllability matrix
C~(B, AB, A2
B, . . . , AN{1
B) ð2Þ
has full rank, that is
rank(C)~N ð3Þ
This represents the mathematical condition for controllability, and is
called Kalman’s controllability rank condition1,2
(Fig. 1a). In practical
terms,controllabilitycanbealsoposedasfollows.Identifytheminimum
number of driver nodes such that equation (3) is satisfied. For example,
equation (3) predicts that controlling node x1 in Fig. 1b with the input
signalu1 offersfullcontroloverthesystem,asthestatesofnodesx1,x2,x3
and x4 are uniquely determined by the signal u1(t) (Fig. 1c). In contrast,
controlling the top node in Fig. 1e is not sufficient for full control, as the
difference a31x2(t) 2 a21x3(t) (where aij are the elements of A) is not
Are regime shifts controllable?
To what extent can we manage them?
• Critics to Liu et al.:
• Topology is not enough
• Internal dynamics
• Unmatched nodes change if
the periphery of the causal
networks change - The limits of
the system blur
• Unmatched nodes change
when joining causal networks
to understand cascading
effects.
Sunday, September 1, 13
39. ARTICLE doi:10.1038/nature10011
Controllability of complex networks
Yang-Yu Liu1,2
, Jean-Jacques Slotine3,4
& Albert-La´szlo´ Baraba´si1,2,5
The ultimate proof of our understanding of natural or technological systems is reflected in our ability to control them.
Although control theory offers mathematical tools for steering engineered and natural systems towards a desired state, a
framework to control complex self-organized systems is lacking. Here we develop analytical tools to study the
controllability of an arbitrary complex directed network, identifying the set of driver nodes with time-dependent
control that can guide the system’s entire dynamics. We apply these tools to several real networks, finding that the
number of driver nodes is determined mainly by the network’s degree distribution. We show that sparse
inhomogeneous networks, which emerge in many real complex systems, are the most difficult to control, but that
dense and homogeneous networks can be controlled using a few driver nodes. Counterintuitively, we find that in
both model and real systems the driver nodes tend to avoid the high-degree nodes.
Accordingtocontroltheory,adynamicalsystemiscontrollableif,witha
suitable choice of inputs, it can be driven from any initial state to any
desired final state within finite time1–3
. This definition agrees with our
intuitive notion of control, capturing an ability to guide a system’s
behaviourtowardsadesiredstatethroughtheappropriatemanipulation
of a few input variables, like a driver prompting a car to move with the
desired speed and in the desired direction by manipulating the pedals
and the steering wheel. Although control theory is a mathematically
highly developed branch of engineering with applications to electric
circuits, manufacturing processes, communication systems4–6
, aircraft,
spacecraft and robots2,3
, fundamental questions pertaining to the con-
trollabilityofcomplex systemsemerging in nature andengineering have
resisted advances. The difficulty is rooted in the fact that two independ-
ent factors contribute to controllability, each with its own layer of
unknown: (1) the system’s architecture, represented by the network
encapsulating which components interact with each other; and (2) the
dynamical rules that capture the time-dependent interactions between
thecomponents.Thus,progresshasbeenpossibleonlyinsystemswhere
both layers are well mapped, such as the control of synchronized net-
works7–10
, small biological circuits11
and rate control for communica-
tion networks4–6
. Recent advances towards quantifying the topological
characteristics of complex networks12–16
have shed light on factor (1),
prompting us to wonder whether some networks are easier to control
than others and how network topology affects a system’s controllability.
Despite some pioneering conceptual work17–23
(Supplementary
Information, section II), we continue to lack general answers to these
questions for large weighted and directed networks, which most com-
monly emerge in complex systems.
Network controllability
Most real systems are driven by nonlinear processes, but the controll-
ability of nonlinear systems is in many aspects structurally similar to
that of linear systems3
, prompting us to start our study using the
of traffic that passes through a node i in a communication network24
or transcription factor concentration in a gene regulatory network25
.
The N 3 N matrix A describes the system’s wiring diagram and the
interaction strength between the components, for example the traffic
on individual communication links or the strength of a regulatory
interaction. Finally, B is the N 3 M input matrix (M # N) that iden-
tifies the nodes controlled by an outside controller. The system is
controlled using the time-dependent input vector u(t) 5 (u1(t), …,
uM(t))T
imposed by the controller (Fig. 1a), where in general the same
signal ui(t) can drive multiple nodes. If we wish to control a system, we
first need to identify the set of nodes that, if driven by different signals,
can offer full control over the network. We will call these ‘driver
nodes’. We are particularly interested in identifying the minimum
number of driver nodes, denoted by ND, whose control is sufficient
to fully control the system’s dynamics.
The system described by equation (1) is said to be controllable if it
can be driven from any initial state to any desired final state in finite
time, which is possible if and only if the N3 NM controllability matrix
C~(B, AB, A2
B, . . . , AN{1
B) ð2Þ
has full rank, that is
rank(C)~N ð3Þ
This represents the mathematical condition for controllability, and is
called Kalman’s controllability rank condition1,2
(Fig. 1a). In practical
terms,controllabilitycanbealsoposedasfollows.Identifytheminimum
number of driver nodes such that equation (3) is satisfied. For example,
equation (3) predicts that controlling node x1 in Fig. 1b with the input
signalu1 offersfullcontroloverthesystem,asthestatesofnodesx1,x2,x3
and x4 are uniquely determined by the signal u1(t) (Fig. 1c). In contrast,
controlling the top node in Fig. 1e is not sufficient for full control, as the
difference a31x2(t) 2 a21x3(t) (where aij are the elements of A) is not
Are regime shifts controllable?
To what extent can we manage them?
• Critics to Liu et al.:
• Topology is not enough
• Internal dynamics
• Unmatched nodes change if
the periphery of the causal
networks change - The limits of
the system blur
• Unmatched nodes change
when joining causal networks
to understand cascading
effects.
Sunday, September 1, 13
40. Thanks!
Prof. Garry Peterson & Oonsie
Biggs for their supervision
RSDB folks for inspiring
discussion and writing
examples
Funding sources: FORMAS,
SSEESS, CSS.
Questions??
e-mail: juan.rocha@stockholmresilience.su.se
News and papers on regime shifts: @juanrocha
Research blog: http://criticaltransitions.wordpress.com/
Sunday, September 1, 13
41. Holling’s logic in reverse
Reduce complexity: a handful
of variables will reproduce
regime shifts.
But which ones?
1. Resilience surrogates
2. Leverage points
3. Fast / slow processes
Sunday, September 1, 13
42. Parallel projects & collaboration
1. Text mining to infer potential ecosystem services affected by regime
shifts (with Robin Wikström - Abo University)
2. Networks of Drivers and Ecosystem Services consequences of Marine
Regime Shifts (with Peterson, Biggs, Blenckner & Yletyinen)
3. Experimental economics in Colombia: how people respond to abrupt
ecosystem change? (with Schill, Crepin & Lindahl)
4. Resource - trade networks: Can we detect cascading effects among
regime shifts by tracing trade signals?
5. Holling’s logic in reverse: Can networks infer resilience surrogates in
SES?
Sunday, September 1, 13
48. Marine Regime Shifts
Local centrality Global centrality
0.00 0.02 0.04 0.06 0.08 0.10 0.12
0.000.020.040.060.080.100.12
Eigenvector
Betweenness
Agriculture
Algae
Atmospheric CO2
Biodiversity
Bivalves abundance
Canopy−forming algae
Consumption preferences
Coral abundance
Daily relative coolingDeforestation
DemandDensity contrast in the water column
Disease outbreak
Dissolved oxygen
DroughtsENSO−like events frequency
Erosion
Fertilizers useFish
Fishing
Floods
Flushing
Global warming
Greenhouse gases
Habitat structural complexity
Herbivores
Human populationHurricanesImpoundmentsInvasive speciesIrrigationLandscape fragmentation/conversion
Leakage
Lobsters and meso−predators
Local water movementsLow tides frequency
Macroalgae abundance Macrophytes
Mid−predators
Mortality rate
Nekton
Noxious gases
Nutrients input
Ocean acidification
Organic matter
Other competitorsPerverse incentives
Phosphorous in water
Phytoplankton
Planktivore fish
Plankton and filamentous algae
PollutantsPrecipitationSedimentsSewage
Space
SST
StratificationSubsidiesSulfide releaseTechnologyThermal annomalies
Thermal low pressure
Top predators
TradeTragedy of the commons
Turbidity
Turf−forming algae
Unpalatability
Upwellings
Urban growth
Urban storm water runoff
Urchin barrenWater column density contrast
Water mixing
Water temperature
Water vapor
Wind stress
Zooplankton
Zooxanthellae
0 5 10 15
0510
Indegree
Outdegree
Agriculture
Algae
Atmospheric CO2
Biodiversity
Bivalves abundance
Canopy−forming algae
Consumption preferences
Coral abundance
Daily relative cooling
Deforestation
Demand
Density contrast in the water column
Disease outbreak
Dissolved oxygen
Droughts
ENSO−like events frequency
Erosion
Fertilizers use
Fish
Fishing
Floods
Flushing
Global warming
Greenhouse gases
Habitat structural complexity
Herbivores
Human population
Hurricanes
ImpoundmentsInvasive species
Irrigation
Landscape fragmentation/conversion
Leakage
Lobsters and meso−predators
Local water movements
Low tides frequency
Macroalgae abundance
Macrophytes
Mid−predators
Mortality rate
Nekton
Noxious gases
Nutrients input
Ocean acidification
Organic matterOther competitors
Perverse incentives
Phosphorous in water
PhytoplanktonPlanktivore fish
Plankton and filamentous algae
Pollutants
Precipitation
SedimentsSewage
Space
SST
Stratification
Subsidies
Sulfide releaseTechnologyThermal annomalies
Thermal low pressure
Top predators
Trade
Tragedy of the commons
Turbidity
Turf−forming algae
Unpalatability
Upwellings
Urban growth
Urban storm water runoff
Urchin barren
Water column density contrastWater mixing
Water temperature
Water vapor
Wind stress
Zooplankton
Zooxanthellae
Sunday, September 1, 13
49. Terrestrial Regime Shifts
Local centrality Global centrality
0 2 4 6 8
02468
Indegree
Outdegree
Absorption of solar radiationAdvectionAerosol concentration
Agriculture
Albedo
Aquifers
Atmospheric CO2
Atmospheric temperature
Biomass
Brown cloudsCarbon storage
Cropland−Grassland area Deforestation
Demand
Droughts
DustENSO−like events frequency
ErosionEvapotranspiration
Fertilizers use
Fire frequency
Floods
Forest
Global warming
Grass dominance
Grazers
Grazing
Ground water table
Human population
Illegal logging
Immigration
Infrastructure development
Irrigation
Land conversion
Land−Ocean pressure gradient
Land−Ocean temperature gradient
Latent heat release
Lifting condensation levelLogging industryMoisture
Monsoon circulation
Native vegetation
Palatability
Precipitation
Productivity
Rainfall deficit
Rainfall variability
Ranching
Roughness
Savanna
Sea tides
Shadow_rooting
Soil impermeability
Soil moistureSoil productivity
Soil quality Soil salinitySolar radiation
SpaceSST
Temperature
Tree maturity
Vapor
VegetationWater availability
Water consumption
Water demandWater infrastructure
Wind stress
Woody plants dominance
0.00 0.02 0.04 0.06 0.08
0.000.020.040.060.08
Eigenvector
Betweenness
Absorption of solar radiation
Advection
Aerosol concentration
Agriculture
Albedo
Aquifers
Atmospheric CO2
Atmospheric temperature
Biomass
Brown clouds
Carbon storage
Cropland−Grassland area
Deforestation
Demand
Droughts
Dust
ENSO−like events frequency
Erosion
Evapotranspiration
Fertilizers use
Fire frequency
Floods
Forest
Global warming
Grass dominance
Grazers
Grazing
Ground water table
Human populationIllegal loggingImmigrationInfrastructure development
Irrigation
Land conversion
Land−Ocean pressure gradient
Land−Ocean temperature gradient
Latent heat release
Lifting condensation level
Logging industry
Moisture
Monsoon circulation
Native vegetation
Palatability
Precipitation
Productivity
Rainfall deficit
Rainfall variability
Ranching
Roughness
Savanna
Sea tides
Shadow_rooting
Soil impermeability
Soil moisture
Soil productivity
Soil quality
Soil salinity
Solar radiation
Space
SST
Temperature Tree maturity
Vapor
Vegetation
Water availability
Water consumption
Water demand
Water infrastructure
Wind stress
Woody plants dominance
Sunday, September 1, 13