The dynamic emulation of non-linear deterministic computer codes where the
output is a time series, possibly multivariate, is examined. Such computer
models simulate the evolution of some real-world phenomenon over time, for
example models of the climate or the functioning of the human brain. The models
we are interested in are highly non-linear and exhibit tipping points,
bifurcations and chaotic behaviour. However, each simulation run could be too
time-consuming to perform analyses that require many runs, including
quantifying the variation in model output with respect to changes in the
inputs. Therefore, Gaussian process emulators are used to approximate the
output of the code. To do this, the flow map of the system under study is
emulated over a short time period. Then, it is used in an iterative way to
predict the whole time series. A number of ways are proposed to take into
account the uncertainty of inputs to the emulators, after fixed initial
conditions, and the correlation between them through the time series. The
methodology is illustrated with two examples: the highly non-linear dynamical
systems described by the Lorenz and Van der Pol equations. In both cases, the
predictive performance is relatively high and the measure of uncertainty
provided by the method reflects the extent of predictability in each system
