The CMP machine has been developed at MIT by the CMP research group to meet the growing research needs. AD was employed to establish its system architecture (process requirement, machine hardware, control system, etc.). It is designed to enable multi-step polishing of 200 mm wafers, expandable to 300 mm generation. As a consequence, the platform is large (2.7 × 1.5 × 2 m) with numerous components to be controlled and coordinated. Figure 1 shows the drawing of the machine.