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: