The Solar System is the gravitationally bound planetary system of the Sun and the objects that orbit it, either directly or indirectly. Of the objects that orbit the Sun directly, the largest are the eight planets, with the remainder being smaller objects, such as the five dwarf planets and small Solar System bodies. Of the objects that orbit the Sun indirectly—the moons—two are larger than the smallest planet, Mercury. The Solar System formed 4.6 billion years ago from the gravitational collapse of a giant interstellar molecular cloud. The vast majority of the system's mass is in the Sun, with the majority of the remaining mass contained in Jupiter. The four smaller inner planets, Mercury, Venus, Earth and Mars, are terrestrial planets, being primarily composed of rock and metal. The four outer planets are giant planets, being substantially more massive than the terrestrials. The two largest, Jupiter and Saturn, are gas giants, being composed mainly of hydrogen and helium; the two outermost planets, Uranus and Neptune, are ice giants, being composed mostly of substances with relatively high melting points compared with hydrogen and helium, called volatiles, such as water, ammonia and methane. All eight planets have almost circular orbits that lie within a nearly flat disc called the ecliptic. The Solar System also contains smaller objects. The asteroid belt, which lies between the orbits of Mars and Jupiter, mostly contains objects composed, like the terrestrial planets, of rock and metal. Beyond Neptune's orbit lie the Kuiper belt and scattered disc, which are populations of trans-Neptunian objects composed mostly of ices, and beyond them a newly discovered population of sednoids. Within these populations are several dozen to possibly tens of thousands of objects large enough that they have been rounded by their own gravity. Such objects are categorized as dwarf planets. Identified dwarf planets include the asteroid Ceres and the trans-Neptunian objects Pluto and Eris. In addition to these two regions, various other small-body populations, including comets, centaurs and interplanetary dust clouds, freely travel between regions. Six of the planets, at least four of the dwarf planets, and many of the smaller bodies are orbited by natural satellites, usually termed 'moons' after the Moon. Each of the outer planets is encircled by planetary rings of dust and other small objects. The solar wind, a stream of charged particles flowing outwards from the Sun, creates a bubble-like region in the interstellar medium known as the heliosphere. The heliopause is the point at which pressure from the solar wind is equal to the opposing pressure of the interstellar medium; it extends out to the edge of the scattered disc. The Oort cloud, which is thought to be the source for long-period comets, may also exist at a distance roughly a thousand times further than the heliosphere. The Solar System is located in the Orion Arm, 26,000 light-years from the center of the Milky Way galaxy. For most of history, humanity did not recognize or understand the concept of the Solar System. Most people up to the Late Middle Ages–Renaissance believed Earth to be stationary at the centre of the universe and categorically different from the divine or ethereal objects that moved through the sky. Although the Greek philosopher Aristarchus of Samos had speculated on a heliocentric reordering of the cosmos, Nicolaus Copernicus was the first to develop a mathematically predictive heliocentric system. In the 17th century, Galileo discovered that the Sun was marked with sunspots, and that Jupiter had four satellites in orbit around it. Christiaan Huygens followed on from Galileo's discoveries by discovering Saturn's moon Titan and the shape of the rings of Saturn. Edmond Halley realised in 1705 that repeated sightings of a comet were recording the same object, returning regularly once every 75–76 years. This was the first evidence that anything other than the planets orbited the Sun. Around this time (1704), the term 'Solar System' first appeared in English. In 1838, Friedrich Bessel successfully measured a stellar parallax, an apparent shift in the position of a star created by Earth's motion around the Sun, providing the first direct, experimental proof of heliocentrism. Improvements in observational astronomy and the use of unmanned spacecraft have since enabled the detailed investigation of other bodies orbiting the Sun. The principal component of the Solar System is the Sun, a G2 main-sequence star that contains 99.86% of the system's known mass and dominates it gravitationally. The Sun's four largest orbiting bodies, the giant planets, account for 99% of the remaining mass, with Jupiter and Saturn together comprising more than 90%. The remaining objects of the Solar System (including the four terrestrial planets, the dwarf planets, moons, asteroids, and comets) together comprise less than 0.002% of the Solar System's total mass. Most large objects in orbit around the Sun lie near the plane of Earth's orbit, known as the ecliptic. The planets are very close to the ecliptic, whereas comets and Kuiper belt objects are frequently at significantly greater angles to it. All the planets, and most other objects, orbit the Sun in the same direction that the Sun is rotating (counter-clockwise, as viewed from above Earth's north pole). There are exceptions, such as Halley's Comet.