is a torus-shaped belt around Jupiter's equator, which generates cyclotron radiation from electrons that are accelerated in Jupiter's magnetic field. Thermal radiation is produced by heat in the atmosphere of Jupiter. Exploration Jupiter has been visited by automated spacecraft since 1973, when the space probe Pioneer 10 passed close enough to Jupiter to send back revelations about its properties and phenomena. Missions to Jupiter are accomplished at a cost in energy, which is described by the net change in velocity of the spacecraft, or delta-v. Entering a Hohmann transfer orbit from Earth to Jupiter from low Earth orbit requires a delta-v of 6.3 km/s, which is comparable to the 9.7 km/s delta-v needed to reach low Earth orbit. Gravity assists through planetary flybys can be used to reduce the energy required to reach Jupiter. Flyby missions Beginning in 1973, several spacecraft have performed planetary flyby manoeuvres that brought them within observation range of Jupiter. The Pioneer missions obtained the first close-up images of Jupiter's atmosphere and several of its moons. They discovered that the radiation fields near the planet were much stronger than expected, but both spacecraft managed to survive in that environment. The trajectories of these spacecraft were used to refine the mass estimates of the Jovian system. Radio occultations by the planet resulted in better measurements of Jupiter's diameter and the amount of polar flattening. Six years later, the Voyager missions vastly improved the understanding of the Galilean moons and discovered Jupiter's rings. They also confirmed that the Great Red Spot was anticyclonic. Comparison of images showed that the Spot had changed hue since the Pioneer missions, turning from orange to dark brown. A torus of ionized atoms was discovered along Io's orbital path, which were found to come from erupting volcanoes on the moon's surface. As the spacecraft passed behind the planet, it observed flashes of lightning in the night side atmosphere. The next mission to encounter Jupiter was the Ulysses solar probe. In February 1992, it performed a flyby manoeuvre to attain a polar orbit around the Sun. During this pass, the spacecraft studied Jupiter's magnetosphere, although it had no cameras to photograph the planet. The spacecraft passed by Jupiter six years later, this time at a much greater distance. In 2000, the Cassini probe flew by Jupiter on its way to Saturn, and provided higher-resolution images. The New Horizons probe flew by Jupiter in 2007