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This document presents a review of the technological evolution of power generation from residual thermal sources as contemplated by new technologies in ORC (Organic Rankine Cycle) systems, to seek greater efficiencies and lower costs per unit of kw generated. These systems have been improving their thermodynamic performance because of the research regarding the development of their components and the improvements in current applications, since this allows an additional output power generation. The scientific development challenges associated with ORC technology such as workflow, equipment architecture, ORC expanders and applications of these technologies are discussed. It was also found that R245fa is one of the best working fluids in ORC technology because of its low environmental impact but its impact on global warming is still considered an impediment and therefore other alternatives such as the R1233zd are being investigated. Regarding commercial applications of this technology, it was found that there are facilities at a global level that use geothermal energy as a source of heat, followed using residual heat and to a lesser extent biomass.

Open hardware construction and test to implementing control strategies in the serial manipulator Mitsubishi RV-M1 is presented. The power stage is comprised of five LOGOSOL LS-5Y servo-amplifiers cards in continuous current mode. The signal circuit box contains an opto-coupler circuit for deactivating joint brakes; they are normally closed type. Experimental verification was made by comparing PD and gravity-compensation PD control strategies. A dSpace 1103 card let creating a program in C language from the Simulink models simulation stage. The generated C code eases the creation of a project in the ControlDesk graphical environment. The robot is modeled as a DAC (Digital-Analog Channel) that communicates with the controller through the built hardware. This contribution will allow future implementation of basic and advanced control strategies in one of the most used robots in Academy.

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Lecythis minor are medicinal nuts used for obtaining Selenium, an important element for the immunologic system of the human body. This paper presents the statistical procedure for setting a usual (p-value 0.05) interval for the Lecythis Minor nutshell cracking force, so that the nut is separated from the nutshell. Analyzed data was obtained from the software of a SHIMADZU AG-X Plus machine, where the compression test was performed on sample of 25 nuts. Chauvenet´s outlier detection method was recursively applied until a data set of 22 nuts showed no outliers. No previous literature reporting the cracking force for this nut is found. This work is very useful for design engineers since a realistic load value can be assigned to simulations and calculations of nutcracker machines.