Other ancient mathematicians who contributed to the theory of the center of mass include Hero of Alexandria and Pappus of Alexandria. In the Renaissance and Early Modern periods, work by Guido Ubaldi, Francesco Maurolico, Federico Commandino, Evangelista Torricelli, Simon Stevin, Luca Valerio, Jean-Charles de la Faille, Paul Guldin, John Wallis, Louis Carré, Pierre Varignon, and Alexis Clairaut expanded the concept further.