Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers

Figure 22

A pictorial representation of the fully connected eight-neuron architecture with a single altitude sensor, of the nonautonomous cruise mode controller chosen for qualitative decomposition analysis. Following the general neuron representation, the stroke and rotation neurons are marked with “𝑃” as primary and “𝑆” as secondary for the other neurons and numbered accordingly from 0 to 7.