It became clear soon after their discovery that pulsars are
excellent celestial clocks. In the original discovery paper [75], the period of the first pulsar to be discovered, PSR B1919+21,
was found to be stable to one part in
over a time-scale of a few months. Following the discovery of
the millisecond pulsar B1937+21 in 1982 [20] it was demonstrated that its period could be measured to one
part in
or better [52]. This unrivaled stability leads to a host of applications
including time keeping, probes of relativistic gravity and
natural gravitational wave detectors. Subsequently a whole
science has developed into measuring the pulse time-of-arrival as
accurately as possible.