Appendix

The following is a Simnon program, SZGRIsys.T, used to simulate the candidate, neural CPG generator model described in Sec. 4.5.2. Following the program are listed the parameters used in the simulation in file, Ri3.t

Continuous system SZGRIsys" V. 3/14/99

" 4 Neuron RI model after Szentagothai in B&H, Fig. 5.16. 14 states. " STATE vi v2 v3 v4 pi p2 p3 p4 p5 p6 p7 p8 va vb DER dv1 dv2 dv3 dv4 dp1 dp2 dp3 dp4 dp5 dp6 dp7 dp8 dva dvb TIME t

" IPFM VFCa TO GENERATE INPUT SPIKES:

xa = wa - sa ya = IF xa > 0 THEN xa ELSE 0 za = y*phia/tau ua = z*Doa

" IPFM VFCb TO GENERATE INPUT SPIKES

xb = wb - sb yb = IF xb > 0 THEN xb ELSE 0 zb = y*phib/tau ub = z*Dob

" THE RPFM RI SYSTEM:

dv1 = -c1*v1 + c1*E1 - z 1 " Output Neuron 1. w1 = IF v1 > phi1 THEN 1 ELSE 0 s 1 = DELAY (w1, tau) x1 = w1 - s1

y1 = IF x1 > 0 THEN x1 ELSE 0 z1 = y1*phi1/tau dv2 = -c2*v2 + c2 *E2 - z2 " Output Neuron 2. w2 = IF v2 > phi2 THEN 1 ELSE 0 s2 = DELAY (w2, tau) x2 = w2 - s2

y2 = IF x2 > 0 THEN x2 ELSE 0 z2 = y2*phi2/tau dv3 = -c3*v3 + c3*E3 - z3 " Inhibitory interneuron 3. w3 = IF v3 > phi3 THEN 1 ELSE 0 s3 = DELAY (w3, tau) x3 = w3 - s3

z3 = y3*phi3/tau u3 = y3*Do3/tau dv4 = -c4*v4 + c4*E4 - z4 " Inhibitory interneuron 4.

" EXCITATORY SYNAPSE BFs:

dpi = -a1*p1 + ua " Synapse 1 ballistic filter (ipsp)

dp2 = -a2*p2 + ub " Synapse 2 ballistic filter. q2 is output.

" INHIBITORY SYNAPSE BFs:

" Inputs to RPFM neurons

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