p583fig16.10 The GRIDSmap model is embedded into a more complete representation of the processing stages from receipt of angular head velocity and linear velocity signals to this learning of place cells.<BR>||  GRIDSmap.  Pre-wired 2D stripe cells, learns 2D grid cells.  vestibular cells [angular head velocity-> head direction cells, linear velocity]-> stripe cells- small scale 1D periodic spatial code (ECIII)-> SOM grid cells entorhinal cortex- small scale 2D periodic spatial scale-> SOM place cells hippocampal cortex- large scale 2D spatial code (dentate/CA3).  Unified hierarchy of SOMs.