%T A Native Transterpreter for the LEGO Mindstorms RCX
%A  Jonathan Simpson,  Christian L. Jacobsen,  Matthew C. Jadud
%E  Alistair A. McEwan,  Steve Schneider,  Wilson Ifill, Peter H. Welch
%B Communicating Process Architectures 2007
%X The LEGO Mindstorms RCX is a widely deployed educational
   robotics platform. This paper presents a concurrent
   operating environment for the Mindstorms RCX, implemented
   natively using occam\-pi running on the Transterpreter
   virtual machine. A concurrent hardware abstraction layer
   aids both the developer of the operating system and
   facilitates the provision of process\-oriented interfaces to
   the underlying hardware for students and hobbyists
   interested in small robotics platforms.