Implementing robot controllers under real-time POSIX and Ada. - Michael González Harbour; J. M. Drake Moyano; Mario Aldea Rivas; J. García Fernández (IRTAW, 1997)

MAST: Modeling and Analysis Suite for Real Time Applications. - Michael González Harbour; J. J. Gutiérrez García; José C. Palencia Gutiérrez; J. M. Drake Moyano (ECRTS, 2001)