Ported USM-RCG commits: a0ad5fb7476cd63bd0ded9221e037bfeb20ba21b | e9f118a519703f8afc7dfaf51293e13b9b3435a4 | ea88dcd2a1c3289437405490a0dde8410bc77e89 | b6e0e068c8d9b3ed5809805d6bebc7983b84d748 | 7e9c8cbe0defb5edf4bda665b5f62fb5d6c77ff6 | ad6d4d364c9bf26c7f715d2b2c2f21bb1f2ee0f1 (also part of previous commit)