(PhysOrg.com) -- Scientists used to think that Jupiter and its moons - and most other bodies orbiting far from the Sun - were cold, icy, and probably barren. When the Voyager spacecraft flew by in the late '70s, its images of liquid on Jupiter's moons surprised scientists. The images showed that the moon Io had liquid sulfur volcanoes, and the moon Europa contained a liquid ocean under the frozen crust.