Centre for Computational Neuroscience and Robotics, University of Sussex, Falmer, Brighton, United Kingdom.|Centre for Computational Neuroscience and Robotics, University of Sussex, Falmer, Brighton, United Kingdom.|Neuroscience, School of Life Sciences, University of Sussex, Falmer, Brighton, United Kingdom.|Centre for Computational Neuroscience and Robotics, University of Sussex, Falmer, Brighton, United Kingdom.