devices Ptolemy introduced into astronomy, especially the equant, failed to satisfy the physical requirement of uniform circular motion, and noted the absurdity of relating actual physical motions to imaginary mathematical points, lines and circles: Having pointed out the problems, Alhazen appears to have intended to resolve the contradictions he pointed out in Ptolemy in a later work. Alhazen believed there was a "true configuration" of the planets that Ptolemy had failed to grasp. He intended to complete and repair Ptolemy's system, not to replace it completely. In the Doubts Concerning Ptolemy Alhazen set out his views on the difficulty of attaining scientific knowledge and the need to question existing authorities and theories: He held that the criticism of existing theories—which dominated this book—holds a special place in the growth of scientific knowledge. Model of the Motions of Each of the Seven Planets Alhazen's The Model of the Motions of Each of the Seven Planets was written 1038. Only one damaged manuscript has been found, with only the introduction and the first section, on the theory of planetary motion, surviving. (There was also a second section on astronomical calculation, and a third section, on astronomical instruments.) Following on from his Doubts on Ptolemy, Alhazen described a new, geometry-based planetary model, describing the motions of the planets in terms of spherical geometry, infinitesimal geometry and trigonometry. He kept a geocentric universe and assumed that celestial motions are uniformly circular, which required the inclusion of epicycles to explain observed motion, but he managed to eliminate Ptolemy's equant. In general, his model didn't try to provide a causal explanation of the motions, but concentrated on providing a complete, geometric description that could explain observed motions without the contradictions inherent in Ptolemy's model. Other astronomical works Alhazen wrote a total of twenty-five astronomical works, some concerning technical issues such as Exact Determination of the Meridian, a second group concerning accurate astronomical observation, a third group concerning various astronomical problems and questions such as the location of the Milky Way; Alhazen made the first systematic effort of evaluating the Milky Way's parallax, combining Ptolemy's data and his own. He concluded that the parallax is (probably very much) smaller than Lunar parallax, and the Milky way should be a celestial object. Though he was not the first who argued that the Milky Way does not belong to the atmosphere, he is the first who did quantitative analysis