Real-time system development in ada using LEGO® mindstorms® NXT. - Peter J. Bradley; Juan Antonio de la Puente; Juan Zamorano (SIGAda, 2010)

A Platform for Real-Time Control Education with LEGO MINDSTORMS. - Peter J. Bradley; Juan Antonio de la Puente; Juan Zamorano; Daniel Brosnan (ACE, 2012)