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A new algorithm was developed that is able to use the standard 3D printing file format that includes both a 3D model to be printed and a 3D model of a freeform substrate along with the desired printing parameters as input , and it returns G-code instructions for the 3D printing process as output .
 algorithm, standard, 3D printing, 3D model, be, 3D model, freeform, parameters, as, G-code, 3D printing, as
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:
 algorithm, standard, 3D printing, 3D model, be, 3D model, freeform, parameters, as, G-code, 3D printing, as