There's always Armed Bear Common Lisp. which runs on the JVM, if you want to stay in it. And you can also try [Linj](https://github.com/xach/linj) which is similar to Common Lisp an transpiles to Java.
There is an interesting story on how NASA used similar techniques to debug a problem on Deep Space 1, from earth, they were using Common LISP, you can find a bit more detail in here (http://www.flownet.com/gat/jpl-lisp.html) look for 1994-1999 - Remote Agent. I remember one of the guys who worked on this gave a talk which was in youtube but I was not able to find it again.