Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers
Figure 32
(a) shows the neuron output state dynamics of each neuron in the polymorphic controller when presented with a cruise command, whose the external sensor signal is “0.” It can be seen that the neurons 0, 1, 4, and 5 form a composite module with same frequency and would not comply with established criteria for frequency-based grouping. But, the cruise mode controller has been verified to form a single frequency composite stroke and rotation control module as shown in Figure 21(a) and generating appropriate cruise behavior in the MFWR. (b) shows the neuron output state dynamics of each neuron in the polymorphic controller when presented with an altitude gain command whose external sensor signal is “1.” It can be seen that the neurons 0, 5, and 6 forms same frequency group for stroke control and a constant rotation produced by saturated neuron 1. The altitude gain mode controller form a two separate independent stroke and rotation control blocks template as shown in Figure 21(b) and generates appropriate altitude gain behavior in the MFWR.
