Nearly all inflation models predict that the total (matter+energy) density of the universe should be very close to the critical density. During the 1980s, most cosmological research focused on models with critical density in matter only, usually 95% cold dark matter (CDM) and 5% ordinary matter (baryons). These models were found to be successful at forming realistic galaxies and clusters, but some problems appeared in the late 1980s: in particular, the model required a value for the Hubble constant lower than preferred by observations, and the model under-predicted observations of large-scale galaxy clustering. These difficulties became stronger after the discovery of anisotropy in the cosmic microwave background by the COBE spacecraft in 1992, and several modified CDM models came under active study through the mid-1990s: these included the Lambda-CDM model and a mixed cold/hot dark matter model. The first direct evidence for dark energy came from supernova observations in 1998 of accelerated expansion in Riess et al. and in Perlmutter et al., and the Lambda-CDM model then became the leading model. Soon after, dark energy was supported by independent observations: in 2000, the BOOMERanG and Maxima cosmic microwave background experiments observed the first acoustic peak in the cosmic microwave background, showing that the total (matter+energy) density is close to 100% of critical density. Then in 2001, the 2dF Galaxy Redshift Survey gave strong evidence that the matter density is around 30% of critical. The large difference between these two supports a smooth component of dark energy making up the difference. Much more precise measurements from WMAP in 2003–2010 have continued to support the standard model and give more accurate measurements of the key parameters.