I would like to show you a project I was working on recently, involving Microsoft Robotics Developer Studio and Lego NXT 2.0 Mindstorms robot. It consists of a DSS service that controls the robot and a WPF application that draws the current state of the sensors of the robot on the screen.
This is a link to an article that I wrote about this project: Using Microsoft Robotics Developer Studio with Lego Mindstorms NXT Robot
The code is written in C# as DSS Service within MRDS. The complete source code can be found at http://legobotprima.codeplex.com/