Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers

Figure 25

A pictorial representation of the reduced six-neuron architecture of the cruise controller referred in Figure 22. It should be noticed that the primary neurons and second secondary neuron retain their position in the network but the neurons 4, 5, and 7 from the original network are positioned in 3rd, 4th, and 5th 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.