An actuator assembly including a slider configured to be slidable along a sliding direction; and a driving force applying unit comprising a plurality of contact portions disposed to be spaced apart from each other in a direction crossing the sliding direction of the slider and for applying force to the slider by vibrating the contact portions. The slide assembly is translatable within a machine base and its motion is controlled by the piezo-electric motors. The embroidery frame holds the fabric in a state of tension. , an oxidation step in which the waste batteries are oxidized by roasting at 1,100-1,200\xb0 C. The compensation and control algorithms are computer programs that implement the method of the present invention.