Abstract
In this paper we present our experience in the development of real-time controllers for special robots, designed to perform maintenance operations in nuclear power plants. The evolution of computer hardware and software technology has made the requirements of the embedded robot controllers to also evolve. In addition to the usual concurrent software and real-time constraints, today our robots require advanced features such as network communications, file systems, and graphical user interfaces. To meet all these requirements we not only need a reliable concurrent programming language such as Ada, but we also need to use services provided by real-time operating systems. In this paper we want to present our successful experience in the development of robot controllers using the Ada language and a POSIX real-time operating system.
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