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Sanchez-Montanes MA, König P, Verschure PMJF.  2002.  Learning sensory maps with real-world stimuli in real time using a biophysically realistic learning rule. Neural Networks, IEEE Transactions on Neural Networks. 13(3 )
GM., Edelman.  2007.  Learning in and from brain-based devices.. Science. 318(5853):1103-5. Abstract
Prescott TJ, Peter Redgrave, Kevin Gurney.  1999.  Layered Control Architectures in Robots and Vertebrates. Adaptive Behavior . 7 (1)