It's a contractual relationship as per the below NASA SBIR/STTR screenshots show.
Moving from TRL 5-7 is the preceding step to infusing the solution into NASA's Program, with funds coming from it's $22.7B budget for 2020.
NASA SBIR/STTR 101
NASA SBIR/STTR Annual Report
PSA: Make Positivity Louder, page-57
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