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The five naked-eye planets were known even to the ancient people. It is no wonder therefore that we can find them on their coins, either pictured as stars or as allegoric. Discovering of the moons of planets became possible by the invention of telescope. Soon after this the moons appeared on coins and medals.
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The five largest moons of Saturn was discovered shortly after the invention of telescopes. The development of telescopes resulted a growing number of moons and their number is increasing even today.