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According to Dick Teresi, the earliest traces of the idea that it is the Earth that is actually moving and the Sun that is at the center of the solar system is found in Vedic and post-Vedic texts, dating approximately to the 8th-6th century BC. Though discussions on the possibility of heliocentrism date to antiquity, it was not until the 16th century, that the mathematician and astronomer Copernicus presented a fully predictive mathematical model of a heliocentric system, which was later elaborated and expanded by Johannes Kepler. [[ 'THIS IS WRONG! ]]