@InProceedings{Simpson07,
  title =        "{A} {N}ative {T}ransterpreter for the {LEGO} {M}indstorms {RCX}",
  author=        "Simpson,  Jonathan and Jacobsen,  Christian L. and Jadud,  Matthew C.",
  editor=        "McEwan,  Alistair A. and Schneider,  Steve and Ifill,  Wilson and Welch, Peter H.",
  pages =        "339--348",
  booktitle=     "{C}ommunicating {P}rocess {A}rchitectures 2007",
  isbn=          "978-1-58603-767-3",
  year=          "2007",
  month=         "jul",
  abstract=      "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."
}