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H. Shimizu. Biological autonomy: The self-creation of constraints. Applied Mathematics and Computation, 56:177--201, 1993.

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Multifunctionality: A Fundamental Property of Behavior Mechanisms .. - Jaeger (1998)   (1 citation)  (Correct)

....e.g. extracting features from a sensor signal, or producing a base oscillation for a leg controller, etc. Multifunctionality refers to the fact that a particular mechanism can serve many purposes. This fact is well known. It has been referred to under various names, e.g. relative systems (Shimizu, 1993), functional indeterminacy , and multifunctionality (Pasemann, 1994) The multifunctionality described by those authors results from bifurcations. In this article, I wish to point out that multifunctionality even arises without bifurcations, due to nonlinearities and exchanges in relative ....

Shimizu, H. (1993). Biological autonomy: The self-creation of constraints. Applied Mathematics and Computation, 56:177--201.


Brains on wheels: Mobile robots for brain research - Jaeger (1996)   (Correct)

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H. Shimizu. Biological autonomy: The self-creation of constraints. Applied Mathematics and Computation, 56:177--201, 1993.

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