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Sha L, Rajkumar R, Lehoczky JP (1990) Priority inheritance protocols: An approach to real-time synchronization IEEE Transactions On Computers 39:1175-1185

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Prescott TJ, Montes González FM, Gurney K, Humphries MD, Redgrave P (2006) A robot model of the basal ganglia: behavior and intrinsic processing. Neural Netw 19:31-61 [Journal] [PubMed]

   A contracting model of the basal ganglia (Girard et al. 2008) [Model]

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