Why would a civilization keep its numbers down, especially in early eras when the concept of resource exhaustion would not have been known? What motivations could there be for limiting a population? Civilizations, especially early ones, are led by some individual, or in rare cases a small group. So the question really is, why would a leader take actions to limit the population of the people he governed? The usual case, in our history, is that leaders never do such things. Perhaps they might be forced to.
Suppose a tribe lived in a river valley, and a chieftain long before had established a belief system which included the rule that anyone emigrating from the river valley was insulting the chief and betraying his tribe. It would be easy to have this incorporated into the theology that was around at the time, as theology has the knack of adapting to rulers' desires, although not in an obvious manner. So, if this one chieftain had felt insulted and started this tradition, the population outside of the river valley would stay at zero. Perhaps the tradition includes any secretive emigrants being hunted down. With this rule in place, there is no possibility other than a limit to total population.
A river valley such as the one in this example would have a certain amount of water flow, from the river and from rain, and that might be the limiting factor in how much food could be grown. Some years might be better than others, but when a bad year came, or a stretch of drought years, the limit would be unstretchable. After some decades or even centuries, it would be known just how many people could live without threat of starvation during the bad periods, and some sort of reproductive control might be needed to accomplish this. Shaman medicine might come into play here, if an herb was found which caused temporary infertility, without much else in side effects. The civilization would have to have some rules for who is allowed to have how many children, but they could be any type of rules at all, as long as the maximum was not exceeded.
Thus, it is not difficult at all to envision a civilization which had a limited population over a long period. It just needs a geographic limitation enshrined in the tradition and the religion, and a means of controlling reproduction, such as a herb or other plant product. There might be other means as well.
The implications of such a civilization are substantial. If the civilization lasted for many millennia, scientific knowledge and technology would be developed. It might take ten or a hundred times as long as if the entire world were full of people developing scientific concepts or engineering solutions to problems, but there does not seem to be a critical mass of people below which science cannot develop. Perhaps there is one, but it might be ten thousand people, and the civilization could be imagined to be larger than this. So, slowly, slowly, technology grows inside this ancient civilization. But because of the limit in population, it would not grow in a wide a domain as it could were the population a hundred times larger. Certain things would be developed, and that field might be explored, and then some time later, a different advance might be made. So, while technology was developing in the small civilization it would not be uniform.
Technology does not develop in a chaotic form, as there are certain advances which have to be made in order to enable the research needed to develop other advances. In our world, genetics had to wait because the technology of DNA analysis was needed first, and it needed computation and some materials developments. In a limited civilization, these pathways would be much more severe. If the civilization lasted only five thousand years, perhaps only some basic chemistry and physics would be accomplished, together with some engineering capability. It is quite likely that working with natural materials like rock of different types would be one that would be developed earlier in the civilization's history. Thus, finding some evidence of precision rock machining is more likely than, for example, asphalt reside from airport landing strips. Carefully thinking out what could be developed in stages might lead to some more clues as to what signatures there could be from small, ancient civilizations.
The challenge of finding such signatures is daunting. Even if someone could come up with a proposed list of them, there is the difficulty of knowing where the civilization lived. In our example, there is only one spot on planet Earth where the signatures would be found. Even if there were two or three, it is still a formidable problem to find them. One could try and figure out where the civilization would choose to be, but that makes the assumption that they searched around over some wide area and picked the best spot and settled there. Starting the settlement seems more likely to be a matter of chance. It might depend on where some proto-humans were when some critical mutation increased their intelligence or when they figured out how to grow a crop on a river delta where they could stay, without continuous migrations using slash-and-burn agriculture. Any number of unguessable things could lead to the foundation of the home valley of the civilization. Thus, it might be necessary to search all river valleys for their location.
It might not have been a river valley where they decided to stay, although that seems a likely choice. A lakeside location is possible. If agriculture was not as dominant as we might guess, a prolific forest area might be a choice. Again, some careful thought is needed to first construct a list of the types of areas that might be chosen, and then to narrow down the possibilities for each. An even greater problem is that this civilization is supposed to have existed tens of thousands of years ago, when the surface of the Earth was a bit different than it is today. So some geology would need to be done as well. This is indeed a difficult problem.
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