You might want to check out this app: Sleep Cycle alarm clock for iPhone, iPod touch, and iPad on the iTunes App Store It seems to be doing pretty well, and may be able to wake you up in a certain sleep cycle. Sorry, it's 99 cents
In general, a search for "smart alarm clock" or "sleep tracker" will result in a bunch of apps that may be useful for lucid dreaming.
PS. I'm learning iOS programming, and may be able to produce a lucid dreaming app for iPhone/iPod touch by the end of September. There are major hurdles to overcome, among them the fact that xCode needs to run on Mac, and the development program charges 99$ a year to be a member. This is why most of the apps in the iPhone app store are paid. That, and the fact that Apple makes you put in a credit card number before ever showing you the store. So the iPhone users spend more money on apps, causing more developers to try to charge money for apps...
/rant off
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