Greek astronomy is characterized from the start by seeking a rational, physical explanation for celestial phenomena.[17] 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.[18] 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.[19] Hipparchus also created a comprehensive catalog of 1020 stars, and most of the constellations of the northern hemisphere derive from Greek astronomy.[20] The Antikythera mechanism (c.