A major component of control is learning, which appears to be driven by sensory prediction errors, producing plasticity in various regions, including the cerebellum.  I have approached this problem through combining tools from mathematics and neurophysiology. My goals as a scientist, however, are broader than research. I also consider it my calling to serve as a mentor to and an advocate for students and young faculty. To that end, I served as the Director of the PhD Program in Biomedical Engineering at Johns Hopkins for 11 years and authored 3 textbooks. In addition, over the past 25 years I have trained about 30 graduate students and postdoctoral candidates, 17 of whom are in tenure-track academic positions.