The primary recipients of this funding were the School of Computer Science ($100.3 million), the Software Engineering Institute ($71.7 million), the College of Engineering ($48.5 million), and the Mellon College of Science ($47.7 million). The research money comes largely from federal sources, with a federal investment of $217.6 million in 2020. The federal agencies that invest the most money are the National Science Foundation and the Department of Defense, which contributed $59.1 million and $90.1 million in 2020, respectively. The recognition of Carnegie Mellon as one of the best research facilities in the nation has a long history. As early as the 1987 federal budget, CMU was ranked as third in the amount of federal research funds received with $41.5 million, with only MIT and Johns Hopkins receiving more research funds from the Department of Defense. The Pittsburgh Supercomputing Center (PSC) is a joint effort between Carnegie Mellon, University of Pittsburgh, and Westinghouse Electric Company. PSC was founded in 1986 by its two scientific directors, Dr. Ralph Roskies of the University of Pittsburgh and Dr. Michael Levine of Carnegie Mellon. PSC is a leading partner in the TeraGrid, the National Science Foundation's cyberinfrastructure program. The Robotics Institute (RI) is a division of the School of Computer Science and considered to be one of the leading centers of robotics research in the world. The Field Robotics Center (FRC) has developed a number of significant robots, including Sandstorm and H1ghlander, which finished second and third in the DARPA Grand Challenge, and Boss, which won the DARPA Urban Challenge. The Robotics Institute has partnered with a spinoff company, Astrobotic Technology Inc., to land a CMU robot on the moon by 2016 in pursuit of the Google Lunar XPrize. The robot, known as Andy, is designed to explore lunar pits, which might include entrances to caves. The RI is primarily sited at Carnegie Mellon's main campus in Newell-Simon hall. The Software Engineering Institute (SEI) is a federally funded research and development center sponsored by the U.S. Department of Defense and operated by Carnegie Mellon, with offices in Pittsburgh, Pennsylvania, USA and Arlington, Virginia. The SEI publishes books on software engineering for industry, government and military applications and practices. The organization is known for its Capability Maturity Model (CMM) and Capability Maturity Model Integration (CMMI), which identify essential elements of effective system and software engineering processes and can be used to rate the level of