De revolutionibus orbium coelestium have begun work on his new system by that time. Most historians believe that he wrote the "Commentariolus" after his return from Italy, possibly only after 1510. At this time, Copernicus anticipated that he could reconcile the motion of the Earth with the perceived motions of the planets easily, with fewer motions than were necessary in the "Alfonsine Tables", the version of the Ptolemaic system current at the time. In particular, the heliocentric Copernican model made use of the Urdi Lemma developed in the 13th century by Mu'ayyad al-Din al-'Urdi, the first of the Maragha astronomers to develop a non-Ptolemaic
Theory of the Earth evidence of the past action of processes which still operate today. He also anticipated natural selection, as follows: Hutton's prose hindered his theories. John Playfair in 1802 restated of Huttton's geological ideas in clearer English. However, he left out Hutton's thoughts on evolution. Charles Lyell in the 1830s popularised the idea of an infinitely repeating cycle (of the erosion of rocks and the building up of sediment). Lyell believed in gradual change, and thought even Hutton gave too much credit to catastrophic changes. Hutton's work was published in different forms and stages: Theory of the Earth Theory of the Earth