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Fig. 8. Experiment 2B ModCTRNN network solving the variable-speed path integration task. BL/R, left/right beacon sensor; CL/R, left/right compass sensor; RL/R, left/right rotation motor neuron; S, speed sensor; F, forward motor neuron. Arrows are directional weighted links; double-headed arrows are two links going in opposite directions between the same end points. Lines ending in small squares are links that modify other links. wL1/R1...wL6/R6 are weighted links (synapses). See Table 2 for parameter values.