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A soft pneumatic actuator was then designed and printed out of TPU-MWCNT using the optimized process conditions .
 machine or equipment: actuator; engineering feature: designed; concept or principle: process
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: actuator, designed, process 
Answer:
 machine or equipment: actuator; engineering feature: designed; concept or principle: process