How to detect if URL has changed after hash in JavaScript

How can I check if a URL has changed in JavaScript? For example, websites like GitHub, which use AJAX, will append page information after a # symbol to create a unique URL without reloading the page. What is the best way to detect if this URL changes?

• Is the onload event called again?
• Is there an event handler for the URL?
• Or must the URL be checked every second to detect a change?