The 4th Delta Advanced Automation Contest (the “Contest”) is themed “Seeking Smart Manufacturing Talents”. The Contest is sponsored by the Automation Technology Teaching Steering Committee for Higher Education under the Ministry of Education, the Chinese Association of Automation, and the Industry and Information Industry Vocational Education Teaching Steering Committee under the Ministry of Education. It is an innovative technology competition for automation applications organized by the Delta Group.
I (Arnab Kumar Das), along with my friends Vinod V. and Nikhil Goyal have participated and have won the First Prize. Here we have documented our manufacturing and competition. Competition happened from July 24-26, 2017 at Wujiang plant of Delta Group, China.
We are the first one from INDIA to win First Prize in this International Competition.


PICASO 4.0 is a Computer Numeric Control (CNC) machine based Multi-Axes Motion Control Machine for Automated Vertical Laser Engraving / Mechanical Milling solution for brick walls, concrete, glass, wood etc. or any vertical plane surface that can accept laser. Unlike conventional CNC it has no horizontal workspace constraint [ INFINITE X AXIS ] and can engrave long walls. PICASO 4.0 can be used for upright walls, glass, doors, etc., do not have to remove the door or glass, to provide high convenience. In addition to laser engraving, it also can be replaced by other tools, painting or cutting and other actions. PICASO 4.0 Painting the future!! is made by Arnab Kumar Das, Veluguri Vinod and Nikhil Goyal of Lovely Professional University, India Sponsered by Delta Electronics | World’s First Wall Engraving/Milling CNC Machine that works on the vertical surface without any X-Axis Limits.


Case 1:

Customer Requirement:
A customer wants the wall of his house to be painted with his own customized design.


Customer uploads the design to the cloud server, brings PICASO 4.0, aligns its painting tool towards wall, put it into painting mode, set painting area and enjoy the output.

Case 2:

Customer Requirement:
A customer has a glass door at his office entrance and he wants his company’s logo to be engraved on it but he does not want to invest in a new door and also he wants to avoid disassembly and reassembly of door.


Bring PICASO 4.0, align its laser tool towards glass door, upload company’s logo to cloud server, put it into laser engraving mode, set engraving area and enjoy the output.

Case 3:

Customer Requirement
A customer has a large factory that has a concrete wall around its perimeter. Customer wants his perimeter to be painted with least labor cost and minimum time.


Configure PICASO 4.0 to move around the perimeter wall and paint.


[SEE PICS BELOW] Our system is divided into three axes (X, Y, Z). The design consists of a base chassis on which the whole system stands. The base chassis houses all the servo drives, power supply, wiring, servo motors, etc. The base chassis has four servo motors that are attached with gear box, which are further attached with wheels. The chassis along with the wheels and servo forms the X axis. The X axis moves horizontally parallel to wall or work surface. Above the chassis runs vertically four aluminum extrusion which supports the Y axis for the system. The Y axis moves vertically up or down using one lead screw with split nuts attached to the base of a sliding rack. The lead screws are rotated by servo motors coupled to it and are placed inside the chassis. The Z axis is above the rack of Y axis and moves two tools toward or away from the wall.  An HMI/CNC panel is made seperately to the side of the Machine for real time monitoring, start, stop, emergency stop, etc.


In this project we are using multiple servo motors for controlling X, Y, Z axis motion.

  1. In the X Axis we will use four servo motors that gear box coupled with four wheels in the base of the Machine that will work in coordination to move the whole Machine parallel to the wall. Feedback from ultrasonic sensors placed on ends of Y axis rack, facing the wall, continuously measure distance to maintain Y axis parallel to wall.
  2. In the Y Axis we will use one servo motors directly coupled to one lead screw.
  3. In the Z Axis we will use one servo motor to move the printing head / laser head near and away from the wall.

G-Codes is used for motion control with both linear interpolation and circular interpolation.


In this machine we will be controlling tools that are mounted on the Z axisM-Codes is used to control the tool. We controlling the laser intensity from the Z axis using M codes.


  • Cartesian Coordinate machine
  • The machine can work only on flat-floor and flat-wall.
  • Can’t move on too much-slanted floor (15 Degree Safe Limit)
  • Cannot move pass locked door or closed door.
  • Need clearance in his path for proper movement and operation.












Me with the Laser Engraved Dragon
Taking The Award at 4th Delta Automation Challenge
Final Contest Groups
With My Team and Delta Officials
Delta Contest Arena
New Friends From Delta
Delta Challenge Inauguration
Delta SCARA Robot Demonstration
Laser Engraving of Chinese Dragon
After Finishing Engraving
Project Demo Area
Team with the Project
Judges observing the Machine and Its Output
Judges having a discussion on our machine
After Getting into The Finals “The Score Board”
Final Presentation Order
Team With Laser Engraving
Laser Engraving of Her
Some Good Moments
Ball Room Selfie
Receiving the First Prize
Group picture of all Indian Participants and Delta Officials
Moment after the Prize Distribution
Be The Champion
Giving the Final presentation to the panel and all other teams
Giving the Final presentation to the panel and all other teams
Machine In Working Mode

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