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Single bead experiments were conducted , and the thresholds of the process parameters resulting in voids were identified .
 process characterization: bead; concept or principle: process parameters; concept or principle: voids
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: bead, process parameters, voids 
Answer:
 process characterization: bead; concept or principle: process parameters; concept or principle: voids