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A brief history of the Satellites of Jupiter.

Jupiter's moons

Jupiter has a large number of satellites. Of these, four are comparable to the Earth's Moon in size; the rest are orders of magnitude smaller. When Jupiter is at opposition and closest to the Earth, the stellar magnitude of its four large moons is between 5 and 6.

In Antiquity a rough numerical brightness rating for stars and planets was developed. Stars of the first magnitude were brightest; the dimmest celestial objects visible (to the naked eye) were assigned the sixth magnitude. This system is the basis of the modern system of stellar magnitudes bases on instrumental readings.
This means that, were it not for the shielding brightness of Jupiter, these bodies would be visible with the naked eye. The aperture of the telescope used by Galileo in 1610 and its magnification thus brought these four "Galilean" satellites within his grasp.

But first Galileo had to make adjustments to the instruments. When viewing bodies that are very bright and very small, the optical defects of the telescope can be crippling. By trial and error Galileo learned to stop down the aperture of his instrument until he could begin to make useful observations. At the end of 1609, as he was finishing his series of observations of the Moon , Jupiter was at opposition and the brightest object in the evening sky (not counting the Moon). When he had made the new adjustment to his instrument, he turned his attention to Jupiter. On 7 January 1610 he observed the planet and saw what he thought were three fixed stars near it, strung out on a line through the planet. This formation caught his attention, and he returned to it the following evening.

Galileo's expectation was that Jupiter, which was then in its retrograde loop,

When Jupiter is near opposition, it is on the same side of the Sun as the Earth, but the Earth is moving much faster than Jupiter. It therefore appears that Jupiter is moving backward with respect to the fixed stars.
would have moved from east to west and had left the three little stars behind. Instead, he saw all three stars to the west of Jupiter. It appeared as though Jupiter had not moved to the west but rather to the east. This was an anomaly, and Galileo returned to this formation again and again. Over the next week he found out several things. First, the little stars never left Jupiter; they appeared to be carried along with the planet. Second, as they were carried along, they changed their position with respect to each other and Jupiter. Third, there were not three but four of these little stars. By the 15th of January he had figured it out: these were not fixed stars but rather planetary bodies that revolved around Jupiter. Jupiter had four moons. His book, Sidereus Nuncius, in which his discovery was described, came off the press in Venice in the middle of March 1610 and made Galileo famous.

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Galileo's observations of Jupiter's moon

The moons of Jupiter had a major impact on cosmology. In 1610 the traditional Aristotelian cosmology had come under attacks from Copernican astronomers. Aristotelians had a number of arguments against the Copernican System , one of which was now made obsolete. In traditional cosmology, there was only one center of motion, the center of the universe which was the place of the Earth. The motions of all heavenly bodies centered on the Earth. But according to the Copernican theory, the Earth went around the Sun while the Moon went around the Earth. There were thus two centers of motion, which seemed an absurdity. Moreover, if the Earth was a planet, like Mercury, Venus, Mars, Jupiter, and Saturn, why was it the only planet to have a Moon? Galileo's discovery answered this question. The Earth was, in fact, not the only planet to have a moon, Jupiter had four. And no matter what cosmological system one believed in, there were now at least two centers of motion in the universe, the Earth or Sun and Jupiter. Thus, although the satellites (the term was first used by Johannes Kepler ) of Jupiter were by no means proof of the truth of the Copernican system, they certainly added ammunition on that side of the argument.

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Source:  OpenStax, Solar system. OpenStax CNX. Jun 29, 2007 Download for free at http://cnx.org/content/col10432/1.1
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