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We introduce a new software tool, JKarelRobot, for supporting an Inside/Out pedagogy in introductory programming courses. Extending the original conception of "Karel the Robot", with Bloom's Taxonomy of Educational Objectives as a guiding principle, we have provided a mechanism for designing exercises that are cognitively appropriate to the developmental levels of our students. JKarelRobot is platform independent (written in Java) and language/paradigm independent, supporting Pascal, Java, and Lisp style environments.
Buck et al. (2001) studied this question.