Biological and Neural Computation Group, STRI, University of Hertfordshire, Hatfield AL10 9AB, UK. m.j.1.schilstra@herts.ac.uk|Biological and Neural Computation Group, STRI, University of Hertfordshire, Hatfield AL10 9AB, UK. m.j.1.schilstra@herts.ac.uk|Biological and Neural Computation Group, STRI, University of Hertfordshire, Hatfield AL10 9AB, UK. m.j.1.schilstra@herts.ac.uk|Biological and Neural Computation Group, STRI, University of Hertfordshire, Hatfield AL10 9AB, UK. m.j.1.schilstra@herts.ac.uk|Biological and Neural Computation Group, STRI, University of Hertfordshire, Hatfield AL10 9AB, UK. m.j.1.schilstra@herts.ac.uk|Biological and Neural Computation Group, STRI, University of Hertfordshire, Hatfield AL10 9AB, UK. m.j.1.schilstra@herts.ac.uk