1801
It makes the following three advances : ( 1 ) enabling the use of multi-material layers and inclusion of prefabricated components between the layers , ( 2 ) developing an algorithmic foundation to facilitate automated generation of robot instructions , and ( 3 ) identifying the relevant process constraints related to speed , accuracy , and strength .
 multi-material, inclusion, components, robot, process, accuracy, strength
Please list all entity words in the text that fit the category. Output format is "word1, 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} 
Answer:
 multi-material, inclusion, components, robot, process, accuracy, strength