@TechReport{	  it:2004-044,
  author	= {Erik Cedheim and Ramzi Ferchichi and Anders Jonsson and
		  Dan Lind and Henrik Nyman and Olof Sivertsson and Andreas
		  Widenfalk and J{\"o}ns {\AA}kerlund and Leonid Mokrushin
		  and Paul Pettersson},
  title		= {Kelb - A Real-Time Programming Environment for the {Sony}
		  {Aibo}},
  institution	= {Department of Information Technology, Uppsala University},
  department	= {Division of Computer Systems},
  year		= {2004},
  number	= {2004-044},
  month		= oct,
  abstract	= {Kelb is a new real-time programming environment developed
		  at Uppsala University for the Sony AIBO ERS-210. It is
		  aimed to provide efficiency by introducing a notion of
		  light-weight tasks executing according to well-known
		  real-time scheduling algorithms and resource protocols,
		  while still allowing applications to be developed in a
		  high-level abstract programming language. In this paper we
		  give an overview of the design of Kelb and describe the
		  status of the environment, currently including: a real-time
		  programming language and compiler extending gcc for MIPS
		  with support for time- and event-triggered tasks, a runtime
		  library with support for static and dynamic preemptive
		  scheduling algorithms (e.g. fixed priority and earliest
		  deadline first), and a prototype connection to the Times
		  tool allowing Kelb designs to be analysed for
		  schedulabilty.}
}