As noted, the MRV has two robotic arms that allow it to place the MEPs onto other satellites in orbit, as well as perform other tasks. The arms are part of what is formally called the Robotic Servicing of Geosynchronous Satellites (RSGS) payload. The RSGS system was developed through a program led by the U.S. Defense Advanced Research Projects Agency (DARPA), in cooperation with the U.S. Naval Research Laboratory (NRL). It is worth noting here that RSGS is the product of U.S. government work in this vein stretching back decades. There have also been other similar developments elsewhere globally, including in China and Russia, as we will come back to later on.