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I still don't think I'm grasping the concept of corollary discharge. I understand (at least in the example of motion-sickness) that corollary discharge needs to "match" the sensory input to the N.S. in order to avoid feeling sick. However, I don't understand the role of corollary discharge in the larger picture.

Other than that, I don't really have any problem integrating CPG's and their own unique feedback loops. It makes sense that the I-function should be able to excite and inhibit based on different input to the N.S., even if the i-function is somewhat removed from the processing of this sensory input. It seems that much of the class shares some level of surprise in the auxiliary role the i-function seems to play in sensory input processing. If so much of this processing is going on before the i-function is even aware of it, then shouldn't there be another region/component of the brain that also excites and inhibits? This region/component could probably respond (in an excitatory or inhibitory manner) much faster than the i-function owing to the amount of time necessary to update the i-function of the neural mechanisms already at work.