Mechanical analog computer devices appeared again a thousand years later in the medieval Islamic world and were developed by Muslim astronomers, such as the mechanical geared astrolabe by Abū Rayhān al-Bīrūnī, and the torquetum by Jabir ibn Aflah. According to Simon Singh, Muslim mathematicians also made important advances in cryptography, such as the development of cryptanalysis and frequency analysis by Alkindus. Programmable machines were also invented by Muslim engineers, such as the automatic flute player by the Banū Mūsā brothers, and Al-Jazari's humanoid robots and "castle clock", which is considered to be the first programmable analog computer.