Leonardo da Vinci incorporated drawings of ball bearings in his design for a helicopter around the year 1500. This is the first recorded use of bearings in an aerospace design. However, Agostino Ramelli is the first to have published sketches of roller and thrust bearings. An issue with ball and roller bearings is that the balls or rollers rub against each other causing additional friction which can be reduced by enclosing the balls or rollers within a cage. The captured, or caged, ball bearing was originally described by Galileo in the 17th century.