Before revision:  In this paper, we introduce a theoretical framework that provides a synthetic perspective to explain why there exists extreme diversity across layers and within levels. This framework characterizes how the sensorimotor control SATs are constrained by the hardware SATs of neurons communicating with spikes and their sensory and muscle endpoints, in both stochastic and deterministic models. The theoretical predictions of the model are experimentally confirmed using driving experiments in which the time delays and accuracy of the control input from the wheel are varied .
After revision:  In this paper, we introduce a theoretical framework that provides a synthetic perspective to explain why there exists extreme diversity across layers and show how the errors in each control loop can be decomposed into the errors caused by the limited speeds and accuracies of the components .