A socket assembly with incorporated memory structure is provided. The analog input voltages from the multiple channels are concurrently sampled, and the gain stage processes the samples using a double sampling technique, generates residual voltage samples, and generates digital outputs for the multiple channels in an alternating manner. Using the recorded z-axis positions, a z-start position for the modeling platform is calculated. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.