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

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