Kirchhoff formulated his circuit laws, which are now ubiquitous in electrical engineering, in 1845, while still a student. He completed this study as a seminar exercise; it later became his doctoral dissertation. He was called to the University of Heidelberg in 1854, where he collaborated in spectroscopic work with Robert Bunsen. In 1857 he calculated that an electric signal in a resistanceless wire travels along the wire at the speed of light. He proposed his law of thermal radiation in 1859, and gave a proof in 1861. Together Kirchhoff and Bunsen invented the spectroscope, which Kirchhoff used to pioneer the identification of the elements in the Sun, showing in 1859 that the Sun contains sodium. He and Bunsen discovered caesium and rubidium in 1861.