Ashish Tiwari Carolyn L. Talcott Analyzing a Discrete Model of Aplysia Central Pattern Generator 347-366 2008 CMSB http://dx.doi.org/10.1007/978-3-540-88562-7_24 conf/cmsb/2008 db/conf/cmsb/cmsb2008.html#Takahashi08a