Civil engineering has its origins in ancient structures built as early as 4000-2000 BC in Egypt and Mesopotamia to provide shelter as humans abandoned nomadic lifestyles. Notable early structures include pyramids, aqueducts, and roads built by various ancient societies. Around 2550 BC, Imhotep designed the stepped pyramid of King Djoser, considered one of the first large-scale engineered structures. Throughout history, most architectural design and construction was done by artisans until advances in mathematics, like those of Archimedes, began to allow a more scientific approach to engineering problems.