Kepler found employment as an assistant to Tycho Brahe and, upon Brahe's unexpected death, replaced him as imperial mathematician of Emperor Rudolph II. He was then able to use Brahe's extensive observations to make remarkable breakthroughs in astronomy, such as the three laws of planetary motion. Kepler would not have been able to produce his laws without the observations of Tycho, because they allowed Kepler to prove that planets traveled in ellipses, and that the Sun does not sit directly in the center of an orbit but at a focus. Galileo Galilei came after Kepler and developed his own telescope with enough magnification to allow him to study Venus and discover that it has phases like a moon. The discovery of the phases of Venus was one of the more influential reasons for the transition from geocentrism to heliocentrism. Sir Isaac Newton's "Philosophiæ Naturalis Principia Mathematica" concluded the Copernican Revolution. The development of his laws of planetary motion and universal gravitation explained the presumed motion related to the heavens by asserting a gravitational force of attraction between two objects.