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system; (c) invariances: the evaluations of 11 and 12, invariant under the object's location in the camera's viewing field and its direction of movement, are inherent in the processing structure; (d) approximation vs. exactness: the "relation" property of dimensioning guarantees robust object classifications; (e) generalization: objects that are different from compact rectangles can be selected, too; (f) adaptive properties: for appropriate parameter settings the algorithms allow the net to adapt parameters quickly depending on the global stimulus features provided to the system. The net will be improved, e.g., with respect to the evaluation of spatiotemporal stimulus properties and velocity invariance. Furthermore, the classification of an object will be performed by means of a Kohonen net. For a simple class of objects, this MODNet was successfully tested in an experimental platform [6] after the problems concerning the interfaces "sensorMODNet-actor" were solved (Fig. 4). An object passes an infrared gate that releases the camera whose output processed by the net tells a robot, for example, to grasp only small elongated objects oriented in the belt's direction of movement, and to sort these according to their different lengths. The net's directional invariance allows variable camera positions. The platform will be expanded, so that the net also provides information for the grasping patterns of the robot depending on the dimensions of the object and its position on the belt.

A new function for an old structure: The ?Timbal Muscle? in cicada females