Fast convergence of cerebellar learning (Luque et al. 2015)

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Accession:150225
The cerebellum is known to play a critical role in learning relevant patterns of activity for adaptive motor control, but the underlying network mechanisms are only partly understood. The classical long-term synaptic plasticity between parallel fibers (PFs) and Purkinje cells (PCs), which is driven by the inferior olive (IO), can only account for limited aspects of learning. Recently, the role of additional forms of plasticity in the granular layer, molecular layer and deep cerebellar nuclei (DCN) has been considered. In particular, learning at DCN synapses allows for generalization, but convergence to a stable state requires hundreds of repetitions. In this paper we have explored the putative role of the IO-DCN connection by endowing it with adaptable weights and exploring its implications in a closed-loop robotic manipulation task. Our results show that IO-DCN plasticity accelerates convergence of learning by up to two orders of magnitude without conflicting with the generalization properties conferred by DCN plasticity. Thus, this model suggests that multiple distributed learning mechanisms provide a key for explaining the complex properties of procedural learning and open up new experimental questions for synaptic plasticity in the cerebellar network.
Reference:
1 . Luque NR, Garrido JA, Carrillo RR, D'Angelo E, Ros E (2014) Fast convergence of learning requires plasticity between inferior olive and deep cerebellar nuclei in a manipulation task: a closed-loop robotic simulation. Front Comput Neurosci 8:97 [PubMed]
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Model Information (Click on a link to find other models with that property)
Model Type: Realistic Network;
Brain Region(s)/Organism: Cerebellum;
Cell Type(s):
Channel(s):
Gap Junctions:
Receptor(s):
Gene(s):
Transmitter(s):
Simulation Environment: Simulink;
Model Concept(s): STDP;
Implementer(s): Garrido, Jesus A [jesus.garrido at unipv.it]; Luque, Niceto R. [nluque at ugr.es];
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	      Ports		      [2, 1]
	      Position		      [200, 172, 230, 203]
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum"
	      SID		      262
	      Ports		      [2, 1]
	      Position		      [275, 115, 295, 135]
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|++"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Trigonometry
	      Name		      "Trigonometric\nFunction"
	      SID		      263
	      Ports		      [1, 1]
	      Position		      [320, 175, 350, 205]
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "qdd2"
	      SID		      264
	      Position		      [510, 53, 540, 67]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Line {
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	      SrcPort		      1
	      Points		      [0, 65]
	      DstBlock		      "Trigonometric\nFunction"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      Points		      [100, 0]
	      DstBlock		      "Sum"
	      DstPort		      1
	    }
	    Line {
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	      SrcPort		      1
	      Points		      [50, 0]
	      DstBlock		      "Sum"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Product"
	      SrcPort		      1
	      DstBlock		      "qdd2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Trigonometric\nFunction"
	      SrcPort		      1
	      Points		      [25, 0]
	      DstBlock		      "Product"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant3"
	      SrcPort		      1
	      Points		      [0, 40]
	      DstBlock		      "Product2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Digital Clock"
	      SrcPort		      1
	      Points		      [10, 0; 0, -35]
	      DstBlock		      "Product2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      DstBlock		      "Product"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Subsystem8"
	  SID			  265
	  Ports			  [0, 1]
	  Position		  [40, 790, 80, 850]
	  MinAlgLoopOccurrences	  off
	  PropExecContextOutsideSubsystem off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  Opaque		  off
	  RequestExecContextInheritance	off
	  MaskHideContents	  off
	  System {
	    Name		    "Subsystem8"
	    Location		    [535, 178, 1155, 435]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    TiledPaperMargins	    [1.270000, 1.270000, 1.270000, 1.270000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Constant
	      Name		      "Constant1"
	      SID		      267
	      Position		      [300, 12, 370, 68]
	      Value		      "-0.1*4*pi^2"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant3"
	      SID		      268
	      Position		      [140, 20, 170, 50]
	      Value		      "pi/2"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant4"
	      SID		      269
	      Position		      [60, 105, 90, 135]
	      Value		      "2*pi"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      DigitalClock
	      Name		      "Digital Clock"
	      SID		      319
	      Position		      [60, 198, 125, 222]
	      SampleTime	      "0.002"
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	    Block {
	      BlockType		      Product
	      Name		      "Product"
	      SID		      270
	      Ports		      [2, 1]
	      Position		      [410, 22, 440, 53]
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Product
	      Name		      "Product2"
	      SID		      271
	      Ports		      [2, 1]
	      Position		      [215, 152, 245, 183]
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum"
	      SID		      272
	      Ports		      [2, 1]
	      Position		      [290, 95, 310, 115]
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|++"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Trigonometry
	      Name		      "Trigonometric\nFunction"
	      SID		      273
	      Ports		      [1, 1]
	      Position		      [335, 155, 365, 185]
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "qdd3"
	      SID		      274
	      Position		      [525, 33, 555, 47]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Line {
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	      SrcPort		      1
	      Points		      [0, 65]
	      DstBlock		      "Trigonometric\nFunction"
	      DstPort		      1
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	    Line {
	      SrcBlock		      "Constant3"
	      SrcPort		      1
	      Points		      [100, 0]
	      DstBlock		      "Sum"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Product2"
	      SrcPort		      1
	      Points		      [50, 0]
	      DstBlock		      "Sum"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Product"
	      SrcPort		      1
	      DstBlock		      "qdd3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Trigonometric\nFunction"
	      SrcPort		      1
	      Points		      [25, 0]
	      DstBlock		      "Product"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant4"
	      SrcPort		      1
	      Points		      [0, 40]
	      DstBlock		      "Product2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Digital Clock"
	      SrcPort		      1
	      Points		      [20, 0; 0, -35]
	      DstBlock		      "Product2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      Points		      [0, -10]
	      DstBlock		      "Product"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  SID			  275
	  Position		  [240, 138, 270, 152]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qd"
	  SID			  276
	  Position		  [245, 448, 275, 462]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qdd"
	  SID			  277
	  Position		  [195, 728, 225, 742]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
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	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  Points		  [0, -15]
	  DstBlock		  "qdd"
	  DstPort		  1
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	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [0, -5]
	  DstBlock		  "qd"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "q"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Subsystem3"
	  SrcPort		  1
	  Points		  [35, 0; 0, 50]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Subsystem"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
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	Line {
	  SrcBlock		  "Subsystem1"
	  SrcPort		  1
	  Points		  [35, 0; 0, -55]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Subsystem2"
	  SrcPort		  1
	  Points		  [35, 0; 0, 70]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Subsystem4"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Subsystem5"
	  SrcPort		  1
	  Points		  [35, 0; 0, -65]
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Subsystem6"
	  SrcPort		  1
	  Points		  [35, 0; 0, 70]
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Subsystem7"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Subsystem8"
	  SrcPort		  1
	  Points		  [35, 0; 0, -60]
	  DstBlock		  "Mux2"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Constant3"
	  SrcPort		  1
	  Points		  [5, 0; 0, -110]
	  DstBlock		  "Mux"
	  DstPort		  4
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	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  Points		  [5, 0; 0, -95]
	  DstBlock		  "Mux1"
	  DstPort		  4
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	Line {
	  SrcBlock		  "Constant2"
	  SrcPort		  1
	  Points		  [10, 0; 0, -110]
	  DstBlock		  "Mux2"
	  DstPort		  4
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      }
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      SID		      1318
      Position		      [610, 740, 655, 770]
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant1"
      SID		      1319
      Position		      [610, 779, 660, 811]
      Value		      "20"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant4"
      SID		      1320
      Position		      [615, 818, 655, 852]
      Value		      "10"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      SID		      4394
      Ports		      [1, 6]
      Position		      [1585, 711, 1590, 889]
      ShowName		      off
      Outputs		      "6"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux1"
      SID		      4475
      Ports		      [1, 6]
      Position		      [1075, 574, 1080, 686]
      ShowName		      off
      Outputs		      "6"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      DigitalClock
      Name		      "Digital Clock"
      SID		      4355
      Position		      [460, 198, 525, 222]
      SampleTime	      "0.002"
    }
    Block {
      BlockType		      Display
      Name		      "Display"
      SID		      4385
      Ports		      [1]
      Position		      [680, 195, 770, 225]
      Decimation	      "1"
      Lockdown		      off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      SID		      4511
      Position		      [520, 125, 550, 155]
      BlockMirror	      on
      NamePlacement	      "alternate"
      Gain		      "(1/13)"
      ParameterDataTypeMode   "Inherit via internal rule"
      ParameterDataType	      "fixdt(1, 16)"
      ParameterScaling	      "2^0"
      ParamDataTypeStr	      "Inherit: Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1, 16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      SID		      4512
      Position		      [460, 100, 490, 130]
      BlockMirror	      on
      NamePlacement	      "alternate"
      Gain		      "(1/8)"
      ParameterDataTypeMode   "Inherit via internal rule"
      ParameterDataType	      "fixdt(1, 16)"
      ParameterScaling	      "2^0"
      ParamDataTypeStr	      "Inherit: Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1, 16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain3"
      SID		      4513
      Position		      [590, 150, 620, 180]
      BlockMirror	      on
      NamePlacement	      "alternate"
      Gain		      "(1/6)"
      ParameterDataTypeMode   "Inherit via internal rule"
      ParameterDataType	      "fixdt(1, 16)"
      ParameterScaling	      "2^0"
      ParamDataTypeStr	      "Inherit: Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1, 16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Reference
      Name		      "Granular layer"
      SID		      4389
      Ports		      [0, 1]
      Position		      [1160, 1030, 1190, 1060]
      LibraryVersion	      "1.762"
      SourceBlock	      "simulink/Sources/Counter\nLimited"
      SourceType	      "Counter Limited"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      uplimit		      "499"
      tsamp		      "0.002"
    }
    Block {
      BlockType		      Constant
      Name		      "MFactivity"
      SID		      4390
      Position		      [1165, 890, 1210, 920]
      Value		      "ones(6,1)"
      OutDataTypeMode	      "double"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "double"
      SampleTime	      "0.002"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      SID		      4354
      Ports		      [3, 1]
      Position		      [605, 236, 610, 274]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      SID		      4387
      Ports		      [3, 1]
      Position		      [1695, 404, 1700, 496]
      BlockMirror	      on
      NamePlacement	      "alternate"
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux2"
      SID		      2292
      Ports		      [3, 1]
      Position		      [275, 236, 280, 314]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux3"
      SID		      4439
      Ports		      [3, 1]
      Position		      [1035, 577, 1040, 683]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux4"
      SID		      4473
      Ports		      [3, 1]
      Position		      [995, 739, 1000, 841]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux6"
      SID		      4431
      Ports		      [2, 1]
      Position		      [1695, 541, 1700, 579]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux7"
      SID		      4433
      Ports		      [2, 1]
      Position		      [1710, 611, 1715, 649]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux8"
      SID		      4434
      Ports		      [2, 1]
      Position		      [1725, 676, 1730, 714]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux9"
      SID		      4477
      Ports		      [6, 1]
      Position		      [1185, 573, 1190, 687]
      ShowName		      off
      Inputs		      "6"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      SubSystem
      Name		      "RNE "
      SID		      330
      Ports		      [3, 1]
      Position		      [215, 358, 335, 422]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "This block computes the inverse dynamics by using the\nrecursive Newton Euler algorithm(c"
      "omputationally speaking more efficient than Lagrange-Euler's method)\nThe gravity vector has to be set (the grav"
      "ity direction has to be taken into account)"
      MaskPromptString	      "Gravity Vector( 0 0  -9.81) |Robot"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVariables	      "grav=@1;RRed=@2;"
      MaskDisplay	      "port_label('output',1,'Torques')\nport_label('input',1,'q')\nport_label('input',2,'qd')\nport"
      "_label('input',3,'qdd')\nfprintf('RNE') "
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskPortRotate	      "default"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[ 0 0 9.81]|RRedKuKa"
      System {
	Name			"RNE "
	Location		[265, 341, 775, 553]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[1.270000, 1.270000, 1.270000, 1.270000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  SID			  331
	  Position		  [25, 33, 55, 47]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qd"
	  SID			  332
	  Position		  [25, 103, 55, 117]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qdd"
	  SID			  333
	  Position		  [25, 163, 55, 177]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  SID			  334
	  Ports			  [3, 1]
	  Position		  [215, 51, 220, 169]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  SID			  335
	  Ports			  [1, 1]
	  Position		  [90, 25, 150, 55]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function1"
	  SID			  336
	  Ports			  [1, 1]
	  Position		  [95, 95, 155, 125]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function2"
	  SID			  337
	  Ports			  [1, 1]
	  Position		  [100, 155, 160, 185]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "rne"
	  SID			  338
	  Ports			  [1, 1]
	  Position		  [255, 96, 430, 124]
	  MATLABFcn		  "frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav)"
	  OutputDimensions	  "RRed.n"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Torque"
	  SID			  339
	  Position		  [455, 103, 485, 117]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "qdd"
	  SrcPort		  1
	  DstBlock		  "S-Function2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "rne"
	  SrcPort		  1
	  DstBlock		  "Torque"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "rne"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "qd"
	  SrcPort		  1
	  DstBlock		  "S-Function1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "S-Function"
	  SrcPort		  1
	  Points		  [40, 0; 0, 30]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "S-Function1"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "S-Function2"
	  SrcPort		  1
	  Points		  [25, 0; 0, -20]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "RNE 2"
      SID		      4548
      Ports		      [3, 1]
      Position		      [215, 463, 335, 527]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "This block computes the inverse dynamics by using the\nrecursive Newton Euler algorithm(c"
      "omputationally speaking more efficient than Lagrange-Euler's method)\nThe gravity vector has to be set (the grav"
      "ity direction has to be taken into account)"
      MaskPromptString	      "Gravity Vector( 0 0  -9.81) |Robot"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVariables	      "grav=@1;RRed=@2;"
      MaskDisplay	      "\nport_label('output',1,'Torques')\nport_label('input',1,'q')\nport_label('input',2,'qd')\npo"
      "rt_label('input',3,'qdd')\nfprintf('RNE') "
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskPortRotate	      "default"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[ 0 0 9.81]|RRedKuKadet"
      System {
	Name			"RNE 2"
	Location		[265, 341, 775, 553]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[1.270000, 1.270000, 1.270000, 1.270000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  SID			  4549
	  Position		  [25, 33, 55, 47]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qd"
	  SID			  4550
	  Position		  [25, 103, 55, 117]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qdd"
	  SID			  4551
	  Position		  [25, 163, 55, 177]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  SID			  4552
	  Ports			  [3, 1]
	  Position		  [215, 51, 220, 169]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  SID			  4553
	  Ports			  [1, 1]
	  Position		  [90, 25, 150, 55]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function1"
	  SID			  4554
	  Ports			  [1, 1]
	  Position		  [95, 95, 155, 125]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function2"
	  SID			  4555
	  Ports			  [1, 1]
	  Position		  [100, 155, 160, 185]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "rne"
	  SID			  4556
	  Ports			  [1, 1]
	  Position		  [255, 96, 430, 124]
	  MATLABFcn		  "frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav)"
	  OutputDimensions	  "RRed.n"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Torque"
	  SID			  4557
	  Position		  [455, 103, 485, 117]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "qdd"
	  SrcPort		  1
	  DstBlock		  "S-Function2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "rne"
	  SrcPort		  1
	  DstBlock		  "Torque"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "rne"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "qd"
	  SrcPort		  1
	  DstBlock		  "S-Function1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "S-Function"
	  SrcPort		  1
	  Points		  [40, 0; 0, 30]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "S-Function1"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "S-Function2"
	  SrcPort		  1
	  Points		  [25, 0; 0, -20]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "ROBOT RRR"
      SID		      340
      Ports		      [1, 3]
      Position		      [420, 354, 585, 426]
      BackgroundColor	      "red"
      DropShadow	      on
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Simulated robot model(Rigid body dynamics)"
      MaskPromptString	      "Position initial conditions q|Velocity initial conditions qd|Robot"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVariables	      "Ciniciales=@1;Viniciales=@2;RRed=@3;"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskPortRotate	      "default"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[0.0  0.1*sin(pi/4)  0.1 0 0 0 0]|[2*pi*0.1 2*pi*sin(pi/4)*0.1 0 0 0 0 0]|RRedKuKadet"
      System {
	Name			"ROBOT RRR"
	Location		[2, 82, 1261, 876]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[1.270000, 1.270000, 1.270000, 1.270000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "torqueX"
	  SID			  341
	  Position		  [35, 138, 65, 152]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  SID			  342
	  Position		  [35, 745, 155, 775]
	  Value			  "Ciniciales"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant1"
	  SID			  343
	  Position		  [25, 630, 145, 660]
	  Value			  "Viniciales"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  SID			  344
	  Ports			  [3, 1]
	  Position		  [270, 104, 305, 156]
	  ExternalReset		  "falling"
	  InitialConditionSource  "external"
	  Port {
	    PortNumber		    1
	    Name		    "qd"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  SID			  345
	  Ports			  [3, 1]
	  Position		  [360, 115, 390, 155]
	  ExternalReset		  "falling"
	  InitialConditionSource  "external"
	  Port {
	    PortNumber		    1
	    Name		    "q"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  SID			  346
	  Ports			  [3, 1]
	  Position		  [105, 70, 115, 160]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Reset Contidions"
	  SID			  3321
	  Ports			  [0, 1]
	  Position		  [65, 334, 130, 396]
	  BackgroundColor	  "yellow"
	  MinAlgLoopOccurrences	  off
	  PropExecContextOutsideSubsystem off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  Opaque		  off
	  RequestExecContextInheritance	off
	  MaskHideContents	  off
	  MaskPromptString	  "Period"
	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskEnableString	  "on"
	  MaskVisibilityString	  "on"
	  MaskToolTipString	  "on"
	  MaskVariables		  "T=@1;"
	  MaskDisplay		  "port_label ('output',1,'FallingReset')"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskPortRotate	  "default"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "1"
	  System {
	    Name		    "Reset Contidions"
	    Location		    [27, 390, 267, 520]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    TiledPaperMargins	    [1.270000, 1.270000, 1.270000, 1.270000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Constant
	      Name		      "Constant2"
	      SID		      3318
	      Position		      [35, 74, 80, 106]
	      Value		      "T"
	      OutDataType	      "fixdt(1, 16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      DigitalClock
	      Name		      "Digital Clock"
	      SID		      3317
	      Position		      [25, 28, 90, 52]
	      SampleTime	      "0.002"
	    }
	    Block {
	      BlockType		      Math
	      Name		      "Math\nFunction"
	      SID		      3316
	      Ports		      [2, 1]
	      Position		      [130, 32, 160, 63]
	      Operator		      "mod"
	      OutputSignalType	      "real"
	      OutDataType	      "fixdt(1, 16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Out1"
	      SID		      3322
	      Position		      [185, 43, 215, 57]
	      IconDisplay	      "Port number"
	    }
	    Line {
	      SrcBlock		      "Digital Clock"
	      SrcPort		      1
	      DstBlock		      "Math\nFunction"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      Points		      [30, 0]
	      DstBlock		      "Math\nFunction"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Math\nFunction"
	      SrcPort		      1
	      DstBlock		      "Out1"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  SID			  347
	  Ports			  [1, 1]
	  Position		  [150, 100, 210, 130]
	  FunctionName		  "CINDIR"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	  Port {
	    PortNumber		    1
	    Name		    "qdd"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function1"
	  SID			  348
	  Ports			  [1, 1]
	  Position		  [185, 745, 245, 775]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function2"
	  SID			  349
	  Ports			  [1, 1]
	  Position		  [185, 630, 245, 660]
	  BackgroundColor	  "yellow"
	  FunctionName		  "Select"
	  Parameters		  "RRed"
	  EnableBusSupport	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "joint positions q"
	  SID			  350
	  Position		  [565, 13, 595, 27]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "joint velocities qd"
	  SID			  351
	  Position		  [565, 53, 595, 67]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "joint accelerations qdd"
	  SID			  352
	  Position		  [565, 98, 595, 112]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "torqueX"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  Name			  "qd"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [15, 0; 0, -10]
	  Branch {
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -60]
	    Branch {
	      Points		      [0, -25; -285, 0; 0, 80]
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	    Branch {
	      DstBlock		      "joint velocities qd"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
	Line {
	  Name			  "qdd"
	  Labels		  [0, 0]
	  SrcBlock		  "S-Function"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -25; 310, 0]
	    DstBlock		    "joint accelerations qdd"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  DstBlock		  "S-Function1"
	  DstPort		  1
	}
	Line {
	  Name			  "q"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [0, -115]
	  Branch {
	    Points		    [-330, 0; 0, 65]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "joint positions q"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "S-Function1"
	  SrcPort		  1
	  Points		  [90, 0; 0, -610]
	  DstBlock		  "Integrator1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "S-Function2"
	  SrcPort		  1
	  Points		  [5, 0]
	  DstBlock		  "Integrator"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  DstBlock		  "S-Function2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Reset Contidions"
	  SrcPort		  1
	  Points		  [95, 0]
	  Branch {
	    Points		    [105, 0; 0, -230]
	    DstBlock		    "Integrator1"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -235]
	    DstBlock		    "Integrator"
	    DstPort		    2
	  }
	}
      }
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function"
      SID		      4388
      Ports		      [3, 6]
      Position		      [1275, 939, 1405, 1036]
      FunctionName	      "CerebellumIODCNAbstract"
      Parameters	      "ParamFile NumberOfJoints NumberOfStates WeightFile"
      EnableBusSupport	      off
      MaskPromptString	      "Learning Configuration File|Number Of Joints|Number Of States|Final Weight File"
      MaskStyleString	      "edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on"
      MaskCallbackString      "|||"
      MaskEnableString	      "on,on,on,on"
      MaskVisibilityString    "on,on,on,on"
      MaskToolTipString	      "on,on,on,on"
      MaskVariables	      "ParamFile=@1;NumberOfJoints=@2;NumberOfStates=@3;WeightFile=@4;"
      MaskDisplay	      "image(imread('EDLUTIcon.jpg'));\nport_label('input',1,'MFAct')\nport_label('input',2,'Error')"
      "\nport_label('input',3,'State')\nport_label('output',1,'DCNAct')\nport_label('output',2,'PCAct')\nport_label('ou"
      "tput',3,'MFWeight')\nport_label('output',4,'PCWeight')\nport_label('output',5,'IOWeight')\nport_label('output',6"
      ",'KPWeight')\nfprintf('Cerebellum')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskPortRotate	      "default"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "'Parameters.txt'|6|500|'./Register/WeightsNF.dat'"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      SID		      1232
      Ports		      [7, 7]
      Position		      [710, 565, 935, 865]
      BackgroundColor	      "orange"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      System {
	Name			"Subsystem"
	Location		[161, 93, 1299, 853]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[1.270000, 1.270000, 1.270000, 1.270000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Desired Positions"
	  SID			  1246
	  Position		  [20, 208, 50, 222]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Desired Velocities"
	  SID			  1250
	  Position		  [25, 248, 55, 262]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qreal"
	  SID			  1254
	  Position		  [30, 110, 45, 140]
	  NamePlacement		  "alternate"
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qdreal"
	  SID			  1255
	  Position		  [30, 165, 45, 195]
	  NamePlacement		  "alternate"
	  Port			  "4"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
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      Name		      "Terminator1"
      SID		      4547
      Position		      [1045, 700, 1065, 720]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator2"
      SID		      4474
      Position		      [1045, 780, 1065, 800]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator4"
      SID		      2299
      Position		      [610, 405, 630, 425]
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFileIO"
      SID		      4501
      Position		      [1290, 575, 1350, 605]
      Filename		      "IOActivityAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFileIODCN"
      SID		      4526
      Position		      [1670, 1145, 1730, 1175]
      Filename		      "IODCNWeightAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFileKP"
      SID		      4546
      Position		      [1670, 1200, 1730, 1230]
      Filename		      "KPWeightAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFileMFDCN"
      SID		      4483
      Position		      [1670, 1025, 1730, 1055]
      Filename		      "MFDCNWeightAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFilePC"
      SID		      4482
      Position		      [1670, 975, 1730, 1005]
      NamePlacement	      "alternate"
      Filename		      "PCActivityAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFilePCDCN"
      SID		      4484
      Position		      [1670, 1080, 1730, 1110]
      Filename		      "PCDCNWeightAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFileTorque"
      SID		      4486
      Position		      [680, 240, 740, 270]
      Filename		      "CorrectiveTorqueAllLearning6kg.mat"
    }
    Block {
      BlockType		      ToFile
      Name		      "ToFileTorqueInd"
      SID		      4485
      Position		      [1610, 399, 1685, 431]
      Filename		      "CorrectiveTorque1AllLearning6kg.mat"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold"
      SID		      4406
      Position		      [1160, 975, 1185, 1005]
      SampleTime	      "0.002"
    }
    Block {
      BlockType		      SignalViewerScope
      Name		      "Scope1"
      SID		      4350
      Ports		      []
      Position		      [20, 15, 60, 55]
      IOType		      "viewer"
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      ShowDataMarkers	      off
      ShowLegends	      off
      DataFormat	      "Array"
      MaxDataPoints	      "7500"
      RefreshTime	      0.035000
    }
    Line {
      SrcBlock		      "3 sinusoidal \ntrajectories"
      SrcPort		      1
      Points		      [60, 0]
      Branch {
	Points			[35, 0]
	DstBlock		"RNE "
	DstPort			1
      }
      Branch {
	Labels			[0, 0]
	Points			[0, 110]
	Branch {
	  Points		  [0, 120]
	  DstBlock		  "Subsystem"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "RNE 2"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "3 sinusoidal \ntrajectories"
      SrcPort		      2
      Points		      [40, 0]
      Branch {
	DstBlock		"RNE "
	DstPort			2
      }
      Branch {
	Labels			[0, 0]
	Points			[0, 105]
	Branch {
	  Points		  [0, 140]
	  DstBlock		  "Subsystem"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "RNE 2"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "3 sinusoidal \ntrajectories"
      SrcPort		      3
      Points		      [85, 0]
      Branch {
	Points			[10, 0]
	DstBlock		"RNE "
	DstPort			3
      }
      Branch {
	Points			[0, 100]
	DstBlock		"RNE 2"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "RNE "
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, 50; 40, 0]
	DstBlock		"Sum3"
	DstPort			1
      }
      Branch {
	Points			[15, 0]
	Branch {
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, -135]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "ROBOT RRR"
      SrcPort		      1
      Points		      [100, 0; 0, 310]
      DstBlock		      "Subsystem"
      DstPort		      3
    }
    Line {
      SrcBlock		      "ROBOT RRR"
      SrcPort		      2
      Points		      [65, 0; 0, 325]
      DstBlock		      "Subsystem"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Subsystem"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      DstBlock		      "Subsystem"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Constant4"
      SrcPort		      1
      DstBlock		      "Subsystem"
      DstPort		      7
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "ROBOT RRR"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ROBOT RRR"
      SrcPort		      3
      DstBlock		      "Terminator4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      Points		      [0, 5; 70, 0]
      Branch {
	Points			[0, -35]
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	Points			[35, 0]
	DstBlock		"Sum"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "ToFileTorque"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      Points		      [-95, 0]
      DstBlock		      "ToFileTorqueInd"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Granular layer"
      SrcPort		      1
      Points		      [0, -25]
      DstBlock		      "S-Function"
      DstPort		      3
    }
    Line {
      Labels		      [0, 0]
      SrcBlock		      "MFactivity"
      SrcPort		      1
      Points		      [0, 55]
      DstBlock		      "S-Function"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      1
      Points		      [0, -10; 90, 0; 0, -140]
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      2
      Points		      [0, 25]
      DstBlock		      "ToFilePC"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      3
      Points		      [35, 0; 0, 60]
      DstBlock		      "ToFileMFDCN"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      4
      Points		      [25, 0; 0, 100]
      DstBlock		      "ToFilePCDCN"
      DstPort		      1
    }
    Line {
      SrcBlock		      "RNE 2"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [0, -230]
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Zero-Order\nHold"
      SrcPort		      1
      DstBlock		      "S-Function"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux6"
      SrcPort		      1
      Points		      [155, 0; 0, -140]
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux7"
      SrcPort		      1
      Points		      [95, 0; 0, -180]
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux8"
      SrcPort		      1
      Points		      [45, 0; 0, -215]
      DstBlock		      "Mux1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, 25; 140, 0; 0, 40]
	DstBlock		"Sum2"
	DstPort			1
      }
      Branch {
	Points			[0, -175]
	DstBlock		"Mux6"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [40, 0]
      Branch {
	Points			[60, 0; 0, 60]
	DstBlock		"Sum4"
	DstPort			1
      }
      Branch {
	Points			[0, -165]
	DstBlock		"Mux7"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      5
      Points		      [75, 0]
      Branch {
	Points			[0, 50]
	DstBlock		"Sum5"
	DstPort			1
      }
      Branch {
	Points			[0, -160]
	DstBlock		"Mux8"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      6
      Points		      [55, 0]
      Branch {
	Points			[0, 45]
	DstBlock		"Sum5"
	DstPort			2
      }
      Branch {
	Points			[30, 0; 0, -170]
	DstBlock		"Mux8"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      4
      Points		      [60, 0]
      Branch {
	Points			[0, 55]
	DstBlock		"Sum4"
	DstPort			2
      }
      Branch {
	Points			[0, -175]
	DstBlock		"Mux7"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [30, 0]
      Branch {
	Points			[115, 0]
	DstBlock		"Sum2"
	DstPort			2
      }
      Branch {
	Points			[0, -185]
	DstBlock		"Mux6"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [95, 0; 0, -650]
      DstBlock		      "Gain3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [100, 0; 0, -730]
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      Points		      [105, 0; 0, -805]
      DstBlock		      "Gain2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux4"
      SrcPort		      1
      DstBlock		      "Terminator2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      5
      DstBlock		      "Mux4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      6
      Points		      [0, -5]
      DstBlock		      "Mux4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      7
      Points		      [40, 0]
      DstBlock		      "Mux4"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "Demux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux9"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, -40]
	DstBlock		"ToFileIO"
	DstPort			1
      }
      Branch {
	Points			[35, 0; 0, 110; -125, 0; 0, 250]
	DstBlock		"Zero-Order\nHold"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      Points		      [40, 0; 0, -20]
      DstBlock		      "Mux9"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      1
      Points		      [0, 10; 80, 0; 0, 10]
      DstBlock		      "Mux9"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      3
      Points		      [40, 0; 0, 20]
      DstBlock		      "Mux9"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      4
      Points		      [0, -10; 80, 0; 0, -10]
      DstBlock		      "Mux9"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      5
      Points		      [40, 0; 0, 20]
      DstBlock		      "Mux9"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      6
      Points		      [0, -10; 80, 0; 0, -10]
      DstBlock		      "Mux9"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      1
      DstBlock		      "Mux3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      2
      Points		      [0, -5]
      DstBlock		      "Mux3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      3
      Points		      [80, 0]
      DstBlock		      "Mux3"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Digital Clock"
      SrcPort		      1
      DstBlock		      "Display"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [-215, 0; 0, 185]
      DstBlock		      "Mux2"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [-265, 0; 0, 135]
      DstBlock		      "Mux2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain3"
      SrcPort		      1
      Points		      [-325, 0]
      DstBlock		      "Mux2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      5
      Points		      [20, 0; 0, 150]
      DstBlock		      "ToFileIODCN"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      6
      Points		      [15, 0; 0, 190]
      DstBlock		      "ToFileKP"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      4
      Points		      [0, -5]
      DstBlock		      "Terminator1"
      DstPort		      1
    }
  }
}
# Finite State Machines
#
#    Stateflow Version 7.1 (R2009a) dated Jul 17 2009, 10:24:20
#
#


Stateflow {
  machine {
    id			    1
    name		    "CerebellumIODCNAbstractMass"
    created		    "15-Apr-2011 13:22:27"
    isLibrary		    0
    firstTarget		    2
    sfVersion		    71014000.00001
  }
  target {
    id			    2
    name		    "sfun"
    description		    "Default Simulink S-Function Target."
    machine		    1
    linkNode		    [1 0 0]
  }
}