\section{Robot architecture}
\subsection{Tools}
-\emph{LeJOS}~\cite{lejos_team_lejos_2015}
-
-\emph{XText}
-
-\emph{eclipse}
-
-\emph{Antlr}
-
-\emph{Xtend}
+\paragraph{\emph{LeJOS}~\cite{lejos_team_lejos_2015}} is an alternative
+operating system for the \textsc{lego}$^{\small\textcopyright}$ \textsc{EV3}
+bricks. By default the bricks come preinstalled with their own operating system
+in which you can write programs. The programs have to be written in a
+\textsc{C} dialect or in a graphical programming tool. \emph{LeJOS} on the
+other hand is a constantly developed toolkit to write the programs in Java.
+Because of this we can reuse Java standard libraries and program in a familiar
+language that allows enough detail for the task.
+
+\paragraph{\emph{XText}, \emph{XTend} and \emph{Antlr}} are a collection of
+tools working together to provide the functionality for writing, parsing,
+generating and validating the DSL. \emph{XText} is the format used to write the
+concrete syntax in. The \emph{XText} syntax is converted to a so called
+\emph{ecore} model which can be read by \emph{XTend} programs. \emph{XTend}
+program can do code generation and validation. All the parsing is done by the
+parser generator library \emph{Antlr}.
+
+\paragraph{\emph{eclipse}} is the integrated development environment that ties
+all the tools together. The DSL is developed in \emph{eclipse} and when the
+language infrastructure is generated you can open a new instance of
+\emph{eclipse} to write the actual DSL code in. In this way the user of the
+child-instance of \emph{eclipse} has no view on the underlying mechanisms
+generating the code and processing the data.
\subsection{Design patterns}
\subsubsection{Producer-Consumer}
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