( Saturn ( ( has ( been ( visited ( by ( ( ( ( ( ( 3 spacecraft ) ( ( Pioneer 11 ) ( in 1979 ) ) ) , ) ( ( Voyager 1 ) ( in 1980 ) ) ) and ) ( ( Voyager 2 ) ( in 1981 ) ) ) ) ) ) ) . ) )
(ROOT (S (NP (NNP Saturn)) (VP (VBZ has) (VP (VBN been) (VP (VBN visited) (PP (IN by) (NP (NP (NP (CD 3) (NN spacecraft)) (NP (NP (NNP Pioneer) (CD 11)) (PP (IN in) (NP (CD 1979))))) (, ,) (NP (NP (NNP Voyager) (CD 1)) (PP (IN in) (NP (CD 1980)))) (CC and) (NP (NP (NNP Voyager) (CD 2)) (PP (IN in) (NP (CD 1981))))))))) (. .)))
Saturn has been visited by 3 spacecraft Pioneer 11 in 1979, Voyager 1 in 1980 and Voyager 2 in 1981.
(ROOT (S (NP (DT The) (NN voyager) (CD 1) (NN spacecraft)) (VP (VBD visited) (NP (NN saturn)) (PP (IN in) (NP (CD 1980)))) (. .)))