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The PPBAM process consists of adapting a pellet-fed extrusion mechanism to a displacement system , either a Cartesian mechanism or a robotic arm system , building parts in a multi-layered approach .
 concept or principle: process; manufacturing process: extrusion; concept or principle: mechanism; machine or equipment: robotic arm
Given options, please tell me the categories of all the listed entity words.Output format is "type1: word1; type2: word2". 
Option: manufacturing standard, machanical property, manufacturing process, material, engineering feature, process parameter, machine or equipment, application, process characterization, enabling technology, biomedical, concept or principle 
Text: {0} 
 Entities: process, extrusion, mechanism, robotic arm 
Answer:
 concept or principle: process; manufacturing process: extrusion; concept or principle: mechanism; machine or equipment: robotic arm