The introduction of industrial robots in the second part of the 20th century further increased factory automation. Typical applications of robots include welding, painting, assembly, pick and place (such as packaging, palletizing and SMT), product inspection, and testing. As a result of this introduction the machine shop also "has been modernized to the extent that robotics and electronic controls have been introduced into the operation and control of machines. For small machine shops, though, having robots is more of an exception. A machine is a tool containing one or more parts that uses energy to perform an intended action. Machines are usually powered by mechanical, chemical, thermal, or electrical means, and are often motorized. Historically, a power tool also required moving parts to classify as a machine. However, the advent of electronics has led to the development of power tools without moving parts that are considered machines. Machining is any of various processes in which a piece of raw material is cut into a desired final shape and size by a controlled material-removal process. The many processes that have this common theme, controlled material removal, are today collectively known as subtractive manufacturing, in distinction from processes of controlled material addition, which are known as additive manufacturing. Exactly what the "controlled" part of the definition implies can vary, but it almost always implies the use of machine tools (in addition to just power tools and hand tools). A machine tool is a machine for shaping or machining metal or other rigid materials, usually by cutting, boring, grinding, shearing, or other forms of deformation. Machine tools employ some sort of tool that does the cutting or shaping. All machine tools have some means of constraining the workpiece and provide a guided movement of the parts of the machine. Thus the relative movement between the workpiece and the cutting tool is controlled or constrained by the machine to at least some extent, rather than being entirely "offhand" or "freehand". Some machine shops are better organized than other, and some places are keep cleaner than other establishments. In some instances, the shop is swept minutes before the end of every shift, and in other cases, there’s no schedule or routine, or the cycle for sweeping and cleaning is more relaxed. When it comes to machines, in some places the care and maintenance of the equipment is paramount, and the swarf (commonly known as chips) produced after parts have been machined, are removed daily, and then the machine is air-blown and wiped clean; while in other machine shops, the chips are left in the machines until is an absolute necessity to remove them; the second instance is not advisable.