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Building Instructions for a cable that connects LEGO Power Functions (PF) with Mindstorms NXT/EV3 - Christoph Bartneck, Ph.D.
mindstorms - What are the electrical properties of electric LEGO systems? - Bricks
Mindstorms NXT motor and PF IR Receiver Compatibility - LEGO Technic, Mindstorms, Model Team and Scale Modeling - Eurobricks Forums