No action on the external reality is possible without a successful simulation of that action. The action will be as in the successful simulation. Both in an immediate action and in an activity that has to be done in the future, any brain follows this procedure. We shall add some considerations about the speed of action on external reality. So, when we walk on a plane surface, for each step there is at least one simulation before the step is done. Due to a large number of internal and external factors, any step is unique. Thus, if we walk on a raw surface (a stony trail in the mountains, for instance) not only every step in based on a simulation but even during the execution of a step, it is possible to make a new simulation based on new data and so a step in execution can be modified at all time to meet the goal as ZAM requires. Thus, a very complicated activity as walking on a mountain trail, can be done very easily and even elegantly, based on continuous predictions and simulations associated with every step. As it was already emphasized before, this procedure to simulate in advance any activity on external reality is followed in all situations, regardless if the activity is immediate or it has to be done in the future. We have already described the two main hardware facilities of the brain (human or animal). Here is a preliminary abstract of the main hardware models of the brain: M-models: these models are associated to sense organs. The brain tries to make a preliminary model of the external reality. To do this, it uses a number of YM concept models. The main activity is to find the entities of the external reality and to associate to any entity a YM model. Then, by simulation on the model, M-models try to integrate any YM model in the structure in a harmonic way. That is, any simulation of interaction between a YM and any other YM- model must confirm the M-model, unaltered. If, for instance, some predictions of an YM1 model in relation with an YM2 model are not compatible with the prediction of the YM2 model in relation with the YM1 model, then M has to change YM1 or YM2, or some relations, or some other YMs, so that the M-model is stable. M-models work in an automatic way, trying to be stable in interaction with the associated section of the external reality. YM-models: they are concept models associated with all the entities, which have already been discovered by the brain by M-model activity. When a new being is born, there are practically no YMs. They are made by direct interaction with the external reality. ZM-models: they are the main long-range models of the brain. They generate knowledge and consciousness. Also they make YMs, ZAMs and AZMs. They are able to take any information from any other model of the brain. ZMs can replace a YM-model with another if something is not OK after an advance prediction and simulation based on any available data. They also control ZAM-models during their activity.