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This is a good choice of topic that links in with the theme of EM and control. It would be most interesting if you are able to illustrate how diverse modelling approaches might be emulated and compared within an EM framework. You are thinking very imaginatively about different angles on robot arm movement, and should be able to turn this to good effect in writing your paper. It will be important to bear in mind that you can write about extensions that you don't have time to implement, and it looks as if your paper can be most interesting if you combine a quite wide-ranging discussion of techniques and issues with a variety of simple proof-of-concept models. It will be important to cast your discussion into a form that is suitable for a paper, and doesn't sound like a catalogue of rather disjointed simple modelling exercises. Identifying issues that are problematic for particular modelling approaches might help to give a framework for your account.

You have identified a good selection of external references. I don't know whether there is a role for LSD accounts of interaction with the arm, but it's probably worth thinking further about how EM references and models might be relevant - though you don't seem short of sources of ideas! You may find it useful at some stage to refer to the EM pendulum simulation(s) in wmb/public/projects/simulations.

Word order in sentences is sometimes a bit odd: good to re-read all your sentences carefully to check that they scan well, and don't conflate potentially different concepts. For instance: 'Another approach ... , an algorithm that has ..., and other similar methods' is clumsy and suggests that approach / algorithm / method are synonyms.