For thousands of years, people had no need for a name for the "Solar System". They thought the Earth stayed still at the center of everything (geocentrism). Although the Greek philosopher Aristarchus of Samos suggested that there was a special order in the sky, Nicolaus Copernicus was the first to develop a mathematical system that described what we now call the "solar system". This was called a new "system of the world". In the 17th century, Galileo Galilei, Johannes Kepler and Isaac Newton began helping people understand physics more clearly. People began to accept the idea that the Earth is a planet and moves around the Sun, and that the planets are worlds with the same physical laws that control Earth. More recently, telescopes and space probes have led to discoveries of mountains and craters, and seasonal meteorological phenomena such as clouds, dust storms and ice caps on the other planets.