Following the Babylonians, significant advances in astronomy were made in ancient Greece and the Hellenistic world. Greek astronomy is characterized from the start by seeking a rational, physical explanation for celestial phenomena. In the 3rd century BC, Aristarchus of Samos estimated the size and distance of the Moon and Sun, and he proposed a model of the Solar System where the Earth and planets rotated around the Sun, now called the heliocentric model. In the 2nd century BC, Hipparchus discovered precession, calculated the size and distance of the Moon and invented the earliest known astronomical devices such as the astrolabe. Hipparchus also created a comprehensive catalog of 1020 stars, and most of the constellations of the northern hemisphere derive from Greek astronomy. The Antikythera mechanism (c. 150–80 BC) was an early analog computer designed to calculate the location of the Sun, Moon, and planets for a given date. Technological artifacts of similar complexity did not reappear until the 14th century, when mechanical astronomical clocks appeared in Europe.