Fig. 11

Cooking demonstration using FREEs. A single \(50^{\circ }\) FREE uses our proposed model-based PD controller (see Controller Design) to control the cooking temperature, and a 60 LR module uses a combination of cases 3 and 4 (see Fig. 10) to blend the ingredients of the bowl in a “figure eight” shape (cyan path). See the video of our experiment here: https://youtu.be/vwmvWCrHNQM