Part 1: Modeling Basal Ganglia -- Introduction -- Basal Ganglia neurobiology -- Functions of Basal Ganglia -- Computational approaches to Basal Ganglia -- Principles of Reinforcement Learning -- The Basal ganglia as an Exploration Engine -- Spiking neuron and biophysical network models of BG with GEN dynamics -- Part 2: Modeling the Functions of Basal Ganglia -- A model of the role of basal ganglia in reaching movements -- A model of the role of basal ganglia in precision grip performance -- A model of the role of basal ganglia in spatial navigation -- A model of the role of basal ganglia in saccade generation -- A model of the role of basal ganglia in gait control -- A model of the role of basal ganglia in working memory -- A model of the role of basal ganglia in action selection -- Part 3: Modeling the action of Neuromodulators in Basal Ganglia -- A model of interaction between dopamine and serotonin in risk-based decision making -- Modeling the joint roles of dopamine and acetylcholine in the striatum -- Modeling the role of norepinephrine in exploratory behaviour -- Part 4: Applications -- Modeling the effects of Deep Brain Stimulation Parkinsonian motor and cognitive symptoms -- Modeling the effects of L-Dopa and dopamine agonists on Parkinsonian motor symptoms -- Modeling the role of the basal ganglia in schizophrenia -- Modeling the role of the basal ganglia in addiction.