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Jupiter was discovered before recorded history. It is the biggest planet in the solar system.
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Saturn has been in the solar system for thousands of years. It is the sixth planet in the system
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Uranus is the seventh planet in the solar system. No one discovered it until 1781 when Sir William Herschel spotted it.
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The exploration of Saturn dates before the 16th century. There has been probes sent up and flybys also. There was also many observations on Earth that were focusing on the rings of Saturn.
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Exploration of Jupiter started in the 7th and 8th century. There has been ground missions with telescopes. There was also space probe and flyby missions.
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On September 23, 1846 Neptune was dicovered. Urbain Le Verrier and John Couch Adams were the co-discoverers.
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In 1986, Voyager 2 made it the closest to Uranus. It was launched in 1977 and came within 81,500 km. It studied the atmosphere and surface of Uranus.