orbital resonance with Jupiter. At these orbital distances, a Kirkwood gap occurs as they are swept into other orbits. History of observation In 1596, Johannes Kepler wrote, "Between Mars and Jupiter, I place a planet," in his Mysterium Cosmographicum, stating his prediction that a planet would be found there. While analyzing Tycho Brahe's data, Kepler thought that too large a gap existed between the orbits of Mars and Jupiter to fit Kepler’s then-current model of where planetary orbits should be found. In an anonymous footnote to his 1766 translation of Charles Bonnet's Contemplation de la Nature, the astronomer Johann Daniel Titius of Wittenberg noted an apparent pattern in the layout of the planets, now known as the Titius-Bode Law. If one began a numerical sequence at 0, then included 3, 6, 12, 24, 48, etc., doubling each time, and added four to each number and divided by 10, this produced a remarkably close approximation to the radii of the orbits of the known planets as measured in astronomical units, provided one allowed for a "missing planet" (equivalent to 24 in the sequence) between the orbits of Mars (12) and Jupiter (48). In his footnote, Titius declared, "But should the Lord Architect have left that space empty? Not at all." When William Herschel discovered Uranus in 1781, the planet's orbit matched the law almost perfectly, leading some astronomers to conclude that a planet had to be between the orbits of Mars and Jupiter. On January 1, 1801, Giuseppe Piazzi, chairman of astronomy at the University of Palermo, Sicily, found a tiny moving object in an orbit with exactly the radius predicted by this pattern. He dubbed it "Ceres", after the Roman goddess of the harvest and patron of Sicily. Piazzi initially believed it to be a comet, but its lack of a coma suggested it was a planet. Thus, the aforementioned pattern predicted the semimajor axes of all eight planets of the time (Mercury, Venus, Earth, Mars, Ceres, Jupiter, Saturn, and Uranus). Concurrent with the discovery of Ceres, an informal group of 24 astronomers dubbed the "celestial police" was formed under the invitation of Franz Xaver von Zach with the express purpose of finding additional planets; they focused their search for them in the region between Mars and Jupiter where the Titius–Bode law predicted there should be a planet. About 15 months later, Heinrich Olbers, a member of the celestial police,