Orrery on display in Kassel at the Astronomisch-Physikalisches Kabinett and in Dresden at the Mathematisch-Physikalischer Salon. In "De revolutionibus orbium coelestium", published in Nuremberg in 1543, Nicolaus Copernicus challenged the Western teaching of a geocentric universe in which the Sun revolved daily around the Earth. He observed that some Greek philosophers had proposed a heliocentric universe. This simplified the apparent epicyclic motions of the planets, making it feasible to represent the planets' paths as simple circles. This could be modelled by the use of gears. Tycho Brahe's improved instruments made precise observations of the skies (1576–1601), and from these Johannes Kepler
Canticle of the Sun Kõrvits (1969) composed a 12-part "A cappella" piece for mixed choir (SSAATTBB) "The Canticle of the Sun" for Southern Chorale choir in 2014. Pope Francis published his second encyclical Laudato si' on June 18, 2015. The Canticle inspired the encyclical's title, "Praise be to you," and was quoted in the first paragraph, "Praise be to you, Our Lord, through our Sister, Mother Earth, who sustains and governs us, and who produces various fruits, with colored flowers and herbs." The Irish composer Vincent Kennedy was commissioned by the Irish Franciscans to set the Canticle of the Sun for Soprano, Harp and