Our forum member Linus has described a toolkit for MATLAB control of the NXT. This pointed me to this impressive student course in RWTH at Aachen. In this course students use MATLAB signal processing tools to analyze motors and sensors of NXT, and built very elaborate NXT models using MATLAB as the programming language (these robots run using the computer as a controller, not on-brick). The project statistics are impressive - over 300 students and 60 supervisors participated in Winter 07/08. Their website also has nice images and video of various projects done in the past.