It’s sometimes hard to know when mixing of several liquids has been effectively completed.
Today’s invention is a system with a multispectral camera trained on the surface of a mixing vessel (eg for paint components).
Although the components may look similar, to such a camera they will usually be detectably different.
When the mixing begins the camera software looks for regions of the most dense, uniform colour and directs the mixing head there first.
This process would continue until no uniform swirls appeared from lower levels which were larger than a certain, threshold size.