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Applied Computational Intelligence and Soft Computing
Volume 2012, Article ID 705483, 21 pages
Research Article

Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers

Department of Computer Science and Engineering, Wright State University, Dayton, OH 45435, USA

Received 21 February 2012; Accepted 21 May 2012

Academic Editor: P. Balasubramaniam

Copyright © 2012 Sanjay K. Boddhu and John C. Gallagher. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In the previous work, it was demonstrated that one can effectively employ CTRNN-EH (a neuromorphic variant of EH method) methodology to evolve neuromorphic flight controllers for a flapping wing robot. This paper describes a novel frequency grouping-based analysis technique, developed to qualitatively decompose the evolved controllers into explainable functional control blocks. A summary of the previous work related to evolving flight controllers for two categories of the controller types, called autonomous and nonautonomous controllers, is provided, and the applicability of the newly developed decomposition analysis for both controller categories is demonstrated. Further, the paper concludes with appropriate discussion of ongoing work and implications for possible future work related to employing the CTRNN-EH methodology and the decomposition analysis techniques presented in this paper.