Rewrite each original sentence in order to make it easier to understand by non-native speakers of English. You can do so by replacing complex words with simpler synonyms (i.e. paraphrasing), deleting unimportant information (i.e. compression), and/or splitting a long complex sentence into several simpler ones. The final simplified sentences need to be grammatical, fluent, and retain the main ideas of their original counterparts without altering their meanings.

[Q]: The first fifteen asteroids to be discovered were given symbols by astronomers as a type of short-hand notation.
[A]: The first fifteen asteroids discovered by astronomers used short-hand notation to give them symbols.

[Q]: The images relayed back to Earth from Voyager 2 became the basis of a 1989 PBS all-night program, Neptune All Night.
[A]: The images were sent back to Earth from Voyager 2. They became the basis of a 1989 PBS all-night program called Neptune All Night.

[Q]: He also had his own carriage, with fine livery, which took him to concerts at other venues.
[A]:
He also had his own fine carriage, which took him to concerts.