Io played a significant role in the development of astronomy in the 17th and 18th centuries; discovered in January 1610 by Galileo Galilei, along with the other Galilean satellites, this discovery furthered the adoption of the Copernican model of the Solar System, the development of Kepler's laws of motion, and the first measurement of the speed of light. Viewed from Earth, Io remained just a point of light until the late 19th and early 20th centuries, when it became possible to resolve its large-scale surface features, such as the dark red polar and bright equatorial regions. In 1979, the two "Voyager" spacecraft revealed Io to be a geologically active world, with numerous volcanic features, large mountains, and a young surface with no obvious impact craters. The "Galileo" spacecraft performed several close flybys in the 1990s and early 2000s, obtaining data about Io's interior structure and surface composition. These spacecraft also revealed the relationship between Io and Jupiter's magnetosphere and the existence of a belt of high-energy radiation centered on Io's orbit. Io receives about 3,600 rem (36 Sv) of ionizing radiation per day.