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The printers were evaluated based on their robustness to energetic ink solids loading , drop formation reliability , drop quality degradation over time , and the energetic performance of the deposited material .
 machine or equipment: printers; machanical property: robustness; material: ink; process characterization: reliability; concept or principle: quality degradation; concept or principle: performance; material: material
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: printers, robustness, ink, reliability, quality degradation, performance, material 
Answer:
 machine or equipment: printers; machanical property: robustness; material: ink; process characterization: reliability; concept or principle: quality degradation; concept or principle: performance; material: material