Electrostatic waves in the ion cyclotron range of frequencies (ICRF) were studied in the Princeton L-4 and ACT-I (the Advanced Concept Torus-1) devices for approximately ten years, from 1975 to 1985. The investigation began in the L-4 linear device, looking for the • parametric excita.'ion of electrostatic ion cyclotron waves in multi-ion-species plasmas. In addition, this investigation verified multi-ion-species effects on the electrostatic ion cyclotron wave dispersion relation including the ion-ion hybrid resonance. Finite-Larmor-radius modification of the wave dispersion relation was also observed, even for ion temperatures of , Ti = 1/40 eV (~the room temperature!). Taking advantage of the relatively high field and long device length of L-4, the existence of the cold electrostatic ion cyclotron wave (CES ICW) was verified. This branch occurs below the ion cyclotron frequency and, in a two-ion-lP species plasma, shows a resonance at the ion-ionhybrid frequency. With the arrival of the ACT-1 toroidal device, finite-Larmor-radius (b'LR) waves were studied in a relatively collisionless warm-ion hydrogen plasma. Detailed investigations of ion Bernstein waves (IBW) included the verification of mode-transformation in their launching, their wave propagation characteristics, their absorption, and the resulting ion heating. This basic physics activity played a crucial role in developing a new reactor heating concept termed ion Bernstein wave heating 0BWH).Experimentalresecach in the lower hybrid frequency range confirmed the existence of FLR effects near the lower hybrid resonance, predicted by Stix in 1965. In a neon plasma with a carefully placed phased wave exciter, the neutralized ion Bernstein wave was observed for the f'u'sttime. Using a fastwave ICRF antenna, two parasitic excitation processes for IBW -parametric instabilityand density-gradient-drivenexcitation --were also discoverezLIn the concluding section of this paper, a possible application of externally launched = electrostatic waves is suggested for helium ash removal from fusion reactor plasmas.