Simplify the following text for a Grade 5 native English-speaking person.
Original: Robert A. Heinlein in part dedicated his 1982 novel Friday to Cadigan after becoming her friend , following her being the guest liaison to him for the 34th Worldcon in Kansas City .
Simplified: Robert A. Heinlein had become her friend after she helped him when he was a guest at the 34th Worldcon in Kansas City . He partly dedicated his novel Friday to her .