In general you can databind RadPanelBar to an object-based data source in code behind.
For this purpose you will have to add a code behind to your master page, or create a user control with code behind, deploy it in SharePoint and refer this control in your master page.
I will suggest you to use the second approach because it is more flexible.
At our Telerik SharePoint 2010 Demo Site you can find and download an example
which demonstrates how to use a SPList to populate a RadScheduler with data - you can use this approach with the RadPanelBar.
Feel free to contact me if you have additional questions.
the Telerik team