An apparatus and method for moving a tool around a pile comprising a grip for engaging upon the pile proximate to a top end thereof, a frame supported by the grip extending between top and bottom ends wherein and a tool holding head secured to a top of the frame. A button is movable back and forth along a transverse axis when depressed from its opposite ends. The system also comprises a processor for processing the obtained data by applying a numerical model for solving a numerical inverse problem of deriving from the electron paramagnetic resonance measurement data a reconstruction of the particle distribution. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected. The method also includes steps of deciding bar code size and position, designating additional print data, previewing, correcting printing error, and printing a header packet and a footer packet. The known angle through which the fastener rotates is used to scale the angle axis.