The Jesuit China missions of the 16th and 17th centuries "learned to appreciate the scientific achievements of this ancient culture and made them known in Europe. Through their correspondence European scientists first learned about the Chinese science and culture." Western academic thought on the history of Chinese technology and science was galvanized by the work of Joseph Needham and the Needham Research Institute. Among the technological accomplishments of China were, according to the British scholar Needham, early seismological detectors (Zhang Heng in the 2nd century), the water-powered celestial globe (Zhang Heng), matches, the independent invention of the decimal system, dry docks, sliding calipers, the double-action piston pump, cast iron, the blast furnace, the iron plough, the multi-tube seed drill, the wheelbarrow, the suspension bridge, the winnowing machine, the rotary fan, the parachute, natural gas as fuel, the raised-relief map, the propeller, the crossbow, and a solid fuel rocket, the multistage rocket, the horse collar, along with contributions in logic, astronomy, medicine, and other fields.