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Figure 20: The Qualitative functional decomposition template derived for the autonomous cruise mode. Most of the autonomous cruise mode controllers can be decomposed into the above-shown template with a high frequency stroke control oscillator module and a low frequency rotation control oscillator along with an intermediate neuron called monitor neuron, which is responsible to coordinate and fine-tune the amplitude and frequency of the stroke oscillator with a period derived from the rotation oscillator. This functional template explains the general evolved behavior of the amplitude and frequency modulation of the stroke kinematics with rotation period for optimal cruise control of MFWR.