Super-lampreys and wave energy: Optimised control of artificially-evolved, simulated swimming lamprey

摘要: Propulsion in the lamprey, an eel-like fish, is governed by activity its spinal neural network (called a central pattern generator (CPG)). This CPG simulated, accordance with Ekeberg's original model, and optimised alternatives are generated genetic algorithms (GAs). A two-phase GA adopted: (1) to evolve neuron-descriptive parameters synaptic weights of oscillator for single lamprey segment, (2) generate interconnections between segments. Results demonstrate that prototype not unique solution simpler versions wider operational ranges can be generated. Evolved solutions outperform swimming capabilities modelled biological organism, as initial step understanding how control wave power devices, similar motion lamprey.