A book on the language can be found here:
https://billwadge.com/lucid-language/
There are a number of posts on the blog that discuss the background:
https://billwadge.com/2011/03/23/lucid-the-origins/
https://billwadge.com/2011/04/09/lucid-the-temporal-language...
https://billwadge.com/2011/04/27/lucid-the-dataflow-language...
https://billwadge.com/2012/03/31/lucid-eduction/
https://billwadge.com/2019/12/04/pylucid-a-lucid-interpreter...
https://billwadge.com/2019/12/04/implementing-pylucid/
https://billwadge.com/2020/08/11/lucid-the-origin-story/
https://billwadge.com/2021/02/21/intensional-logic-in-contex...
https://billwadge.com/2022/01/22/pylucid-calculating-dimensi...