Europa and Io, two of Jupiter's largest moons, were discovered by Galileo in the 17th century and have been objects of detailed imaging by NASA's Voyager and Galileo spacecraft.
(Europa and Io; were discovered; by Galileo; T:in the 17th century) (Europa and Io; have been; objects of detailed imaging by NASA's Voyager and Galileo spacecraft)
Europa and Io Europa and Io
were discovered have been
by Galileo T:in the 17th century
objects of detailed imaging by NASA's Voyager and Galileo spacecraft