Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers

Figure 14

A pictorial representation of the reduced five-neuron architecture of the cruise controller referred in Figure 12. It should be noticed that the primary neurons and secondary neurons retain their position in the network, but neurons 4 and 7 from the original network are positioned in 3rd and 4th locations respectively. The “*” indicates that the neurons in this “dynamics-deprived neuron elimination” process-based architecture differ from the original neuron in the way that, their bias has been accounted for the eliminated neuron’s saturated output effect on them. So, at least in steady state this reduced network should perform functionally equivalent to the original architecture.