Cornell bicycle research began in 1985 when Jim Papadopoulos came to Cornell to work with Andy Ruina, or vice versa. Undergraduate projects have included the application of constraints to pedals, making a geared unicycle, designing a new suspension, measuring the efficiency of a bicycle transmission, designing a constrained pedal, tests of stability, automatic wheel truing, tests of what people can perceive, measurement of the effect of inertia on pedaling efficiency, etc.. Bike research had a lull from about 1988-2002. Starting in 2002-03, with the visit of Arend Schwab from Delft, collaborating with graduate student Andrew Dressel, the stability research has progressed.