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Wilson's model of the locust-flight central pattern generator implemented using leaky integrators: Input x connects to units yi (i=1,2,3,4) with weights vi, and units yl (l=1,2,3,4) connect to units yk (k=1,2,3,4) with weights wkl. For clarity, the self-connections of y2 and y3 are not shown, and the individual forward and recurrent weights are not labeled.
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