The physicochemical properties of the emulsions prepared with four different proteins (pea protein isolate, whey protein isolate, soy protein concentrate, and soy protein isolate) were characterized in terms of particle size, rheological property, and freeze-thaw stability, while the feasibility of the protein-stabilized emulsions as a fat replacer was evaluated. Confocal laser scanning microscopic analysis showed that O/W emulsions were successfully prepared with all the proteins; however, the smallest particle size and excellent syneresis were observed in the WPI-stabilized emulsions. The use of WPI-stabilized emulsions as an alternative for shortening up to 50% level did not lead to differences in the muffin batters’ specific gravity and viscoelastic properties. After baking, the substitution of shortening with the WPI emulsions at up to 50% by weight did not significantly affect the muffins’ specific volume and texture characteristics.

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/ slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.