Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers. (30th July 2012)

• Record Type: Journal Article
• Authors: Boddhu, Sanjay K.; Gallagher, John C.
• Other Names: Balasubramaniam P. Academic Editor.
• Is Part Of: Applied computational intelligence and soft computing. Volume 2012(2012)
• Publication Date: 2012-07-30
• Subjects: Computational intelligence -- Periodicals; Soft computing -- Periodicals; 006.305
• DOI: 10.1155/2012/705483
• Languages: English
• ISSNs: 1687-9724

Abstract

Abstract : In the previous work, it was demonstrated that one can effectively employ CTRNN-EH (a neuromorphic variant of EH method) methodology to evolve neuromorphic flight controllers for a flapping wing robot. This paper describes a novel frequency grouping-based analysis technique, developed to qualitatively decompose the evolved controllers into explainable functional control blocks. A summary of the previous work related to evolving flight controllers for two categories of the controller types, called autonomous and nonautonomous controllers, is provided, and the applicability of the newly developed decomposition analysis for both controller categories is demonstrated. Further, the paper concludes with appropriate discussion of ongoing work and implications for possible future work related to employing the CTRNN-EH methodology and the decomposition analysis techniques presented in this paper.