Really exciting research! I've been trying to replicate this work. So far haven't succeeded. The code for the system described in the article isn't available

Really exciting research! I've been trying to replicate this work. So far haven't succeeded. The code for the system described in the article isn't available. Only a "newer" version is available. In either case, both implementations will behave differently depending on how quickly they execute, so reproducing the described results is proving tricky. Also the motor output program isn't available, nor well defined. When next I get time, I planned on posting to the Google Group for this project and see if they are willing to enlighten. I re-implemented the code as a single C program, and re-architected it to use a synchronous tick, moving from one state to the next. So my program has re-producible results, regardless of speed. It just doesn't appear to behave correctly yet. More tinkering...