Table 1.

Description and numerical values of the model parameters

Symbol	Description	Value
$N_{PRC}^k$	Number of groups of PRCs on the kth ambulacrum	100
$N_{RN}^k$	Number of groups of RNs on the kth ambulacrum	100
$N_{ONR}$	Number of groups of eONR neurons (same for iONR neurons)	500
$\Delta \rho$	Acceptance angle of PRCs (width at half max of angular sensitivity function)	30°
δ	Half-width of the distribution of PRCs locations on each ambulacrum	15°
$r_{i,\mathit{max}}^{k,PRC}$	Maximal activity of the ith PRC on ambulacrum k	1
$r_{i,\mathit{max}}^{k,RN}$	Maximal activity of the ith RN on ambulacrum k	1
$r_{i,\mathit{max}}^{ONR}$	Maximal activity of the ith ONR	1
$a_{RR}$	Strength of the lateral connection weights in the RNs	0.25
$a_{OO}$	Strength of the lateral connection weights in the ONR	0.25
β	Steepness of RN’s (ONR’s) sigmoidal response function	3 (4.5)
$x_c$	Location parameter of RN’s (ONR’s) sigmoidal response function	−0.6 (−0.45)
${\theta }_p$	Threshold for population vector length	5
$\delta r$	Trajectory’s step size in behavioral model	0.1