In the first decade of the 16th century, amateur astronomer Nicolaus Copernicus proposed heliocentrism, and published a treatise on it in 1543. He retained the Ptolemaic idea of epicycles, and merely sought to simplify astronomy by constructing simpler sets of epicyclic orbits. Epicycles consist of circles upon circles. According to Aristotelian physics, the circle was the perfect form of motion, and was the intrinsic motion of Aristotle's fifth element—the quintessence or universal essence known in Greek as "aether" for the English "pure air"—that was the pure substance beyond the sublunary sphere, and thus was celestial entities' pure composition. The German Johannes Kepler [1571–1630], Tycho Brahe's assistant, modified Copernican orbits to "ellipses", formalized in the equations of Kepler's laws of planetary motion.