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Full-Text Articles in Physical Sciences and Mathematics
Evolution And Analysis Of Neuromorphic Flapping-Wing Flight Controllers, Sanjay Kumar Boddhu
Evolution And Analysis Of Neuromorphic Flapping-Wing Flight Controllers, Sanjay Kumar Boddhu
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The control of insect-sized flapping-wing micro air vehicles is attracting increasing interest. Solution of the problem requires construction of a controller that is physically small, extremely power efficient, and capable. In addition, process variation in the creation of very small wings and armatures as well as the potential for accumulating damage and wear over the course of a vehicle's lifetime suggest that controllers be able to self-adapt to the specific and possibly changing nature of the vehicles in which they are embedded. Previous work with Evolvable Hardware Continuous Time Recurrent Neural Networks (CTRNNs) as applied to adaptive control of walking …
An Analog Evolvable Hardware Device For Active Control, Saranyan A. Vigraham
An Analog Evolvable Hardware Device For Active Control, Saranyan A. Vigraham
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The field of Evolvable Hardware (EH) has recently gained a lot of interest due to the novel methodology it offers for designing electrical circuits and machines. EH techniques involve configuring a reconfigurable hardware platform with the aid of learning engines such as evolutionary algorithms. The EH devices normally act as closed loop controllers with the capability of learning necessary control laws adaptively. Current EH practices have several shortcomings, which have restricted their use as reliable controllers. This dissertation will present an improved EH device based on behavioral reconfigurability that addresses the current open challenges in the field of analog Evolvable …