Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers

Figure 29

The above figure shows the neuron output state dynamics of each neuron in the low frequency group (1 and 3) and high frequency group (0, 2, 4, and 5) after intergroup amputation is performed and evaluated in absence of the external altitude sensor signal (represented in Figure 28). It can be noticed that each qualitative group is self-sufficient to generate internal dynamics to sustain steady oscillations independent of the external sensor signal. But, nonetheless low frequency group neurons seem to be susceptible to external sensor signal due to their high time constants.