Qtopia: www.trolltech.com/products/qtopia [1]
Nano-X: www.microwindows.org [2]
Mechatronic Brick: mbrick.dk [3]
The code for the article is available for download here: www.cfsi.dk/images/res/pmmd [4]
Links:
[1] http://www.trolltech.com/products/qtopia
[2] http://www.microwindows.org
[3] http://mbrick.dk
[4] http://www.cfsi.dk/images/res/pmmd