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The Jet Propulsion Laboratory didn't "join" NASA - from its beginnings in 1936, it has always been a federally funded R&D center. It was initially run by the Army, and after NASA was created, it was transferred to it and became one of its field centers (others are Goddard, Marshall, Langley, etc.).

The confusion often comes from the public misconception that JPL is a part of CalTech, which it isn't. It is a government center staffed by CalTech employees and private contractors. CalTech manages and operates JPL under contract from NASA, as many similar centers are run. NASA is actually a very small agency - most of those who actually operate centers and perform work are government employees from other agencies or contractors.

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