<P> Copernican heliocentrism is the name given to the astronomical model developed by Nicolaus Copernicus and published in 1543 . It positioned the Sun near the center of the Universe, motionless, with Earth and the other planets orbiting around it in circular paths modified by epicycles and at uniform speeds . The Copernican model departed from the Ptolemaic system that had prevailed for centuries, placing Earth at the center of the Universe, and is often regarded as the launching point to modern astronomy and the Scientific Revolution . </P> <P> Copernicus was aware that the ancient Greek Aristarchus had already proposed a heliocentric theory, and cited him as a proponent of it in a reference that was deleted before publication, but there is no evidence that Copernicus had knowledge of, or access to, the specific details of Aristarchus' theory . Although he had circulated an outline of his own heliocentric theory to colleagues sometime before 1514, he did not decide to publish it until he was urged to do so late in his life by his pupil Rheticus . Copernicus's challenge was to present a practical alternative to the Ptolemaic model by more elegantly and accurately determining the length of a solar year while preserving the metaphysical implications of a mathematically ordered cosmos . Thus his heliocentric model retained several of the Ptolemaic elements causing the inaccuracies, such as the planets' circular orbits, epicycles, and uniform speeds, while at the same time re-introducing such innovations as: </P>

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