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Weathering MindStorms with drizzle and DIODE in CS0:

, In: Proceedings of the 10th annual SIGCSE conference on Innovation and technology in computer science education,
Ernest, J. C. ; Bowser, A. S. ; Ghule, S.... - p. 353 ff. , 2005
Link: https://dl.acm.org/doi/10.1145/1067445.1067552