Smalltalk-80: the language and its implementation
Smalltalk-80: the language and its implementation
Development of reusable test equipment software using Smalltalk and C
OOPSLA '92 Addendum to the proceedings on Object-oriented programming systems, languages, and applications (Addendum)
Smalltalk with style
Ubiquitous applications: embedded systems to mainframe
Communications of the ACM - Special issue on object-oriented experiences and future trends
Garbage collection: algorithms for automatic dynamic memory management
Garbage collection: algorithms for automatic dynamic memory management
Back to the future: the story of Squeak, a practical Smalltalk written in itself
Proceedings of the 12th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Refactoring: improving the design of existing code
Refactoring: improving the design of existing code
An efficient machine-independent procedure for garbage collection in various list structures
Communications of the ACM
ARM Architecture Reference Manual
ARM Architecture Reference Manual
Universal programming interfaces for robotic devices
Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies
Java™ on the bare metal of wireless sensor devices: the squawk Java virtual machine
Proceedings of the 2nd international conference on Virtual execution environments
HotpathVM: an effective JIT compiler for resource-constrained devices
Proceedings of the 2nd international conference on Virtual execution environments
Design, implementation, and evaluation of the Resilient Smalltalk embedded platform
Computer Languages, Systems and Structures
The SOM family: virtual machines for teaching and research
Proceedings of the fifteenth annual conference on Innovation and technology in computer science education
PhidgetLab: crossing the border from virtual to real-world objects
Proceedings of the fifteenth annual conference on Innovation and technology in computer science education
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Dynamic programming languages offer high expressiveness and flexibility, improving programmer productivity. Still, making dynamic programming languages available for embedded systems is challenging because such environments are often constrained in terms of memory or computational power. For this, it is necessary to reduce the size of language implementations (virtual machines, VMs) while at the same time retaining good performance and robustness. Automatic memory management deserves special attention because its performance and space overhead have noticeable impact on overall system usability. In this paper, we present NXTalk, a VM and programming environment for the Smalltalk programming language, making high-level object-oriented programming available on Lego Mindstorms NXT robots. We describe its VM implementation and evaluate its size and performance characteristics.