What is the history of the RACI chart?

We see this thing all the time. Where did it come from?

First, RACI is only variant of an entire animal of similar things. Its an example of a Responsibility Assignment Matrix. Gale's "New acronyms, initialisms, and abbreviations" from 1977 lists "RAM -- Responsibility Assignment Matrix [NASA]". So maybe it came from NASA?

A 1972 book called "EDP management controls" by M.D. Wadsworth also lists RAM.