Qualitative functional decomposition analysis of evolved neuromorphic flight controllers

Authors:
Sanjay K. Boddhu;John C. Gallagher
Affiliations:
Department of Computer Science and Engineering, Wright State University, Dayton, OH;Department of Computer Science and Engineering, Wright State University, Dayton, OH
Venue:
Applied Computational Intelligence and Soft Computing - Special issue on Applied Neural Intelligence to Modeling, Control, and Management of Human Systems and Environments
Year:
2012

Citing 4
Cited 0

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Evolution and analysis of neuromorphic flapping-wing flight controllers

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Abstract

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.