Just found it! It is pretty much what I was looking for,

On Thu, Sep 9, 2010 at 10:08, Wolfgang Jeltsch <g9ks157k@acme.softbase.org> wrote:
Am Mittwoch, den 08.09.2010, 11:47 -0300 schrieb Rafael Gustavo da Cunha
Pereira Pinto:
> The input and output are  infinite streams. I have a few questions:
>
> 1) Is it possible to change it to use arrows? How would it look like?
> 2) How would one implement an continuous time version?

Have you had a look at Yampa?

Best wishes,
Wolfgang


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--
Rafael Gustavo da Cunha Pereira Pinto