(a) Trajectory of a robot which was able to accomplish both tasks; only the last 3 movements are shown. The robot begins at the open triangle. It then moves to position 1 (sustained light) and then to position 2 (brief light flash). (b) Activity from each neuron of the network and from the light sensor; data for the entire epoch is shown which constituted movements to 5 different sustained lights followed by 1 brief light flash. (c) FFT data for all five neurons calculated over the entire epoch; the value of the corresponding Hurst exponent for each neuron is on the top right.