For centuries, man has yearned for an earthly paradise, and no place better encapsulates this desire than Shangri-La - but was it ever real? The tale of an earthly paradise is among the most enduring myths in the world. From Sumerian epic to the 'islands of the blest' in Celtic literature, it has been a recurring theme through many bodies of literature and for thousands of years. Not surprisingly, then, modern people have also been drawn to the dream of a lost paradise where the ravages of time and history have been held back, where human beings live in harmony with nature, and where the wisdom of the planet is saved for future generations. In other words, to a Shangri-La.

The Queen of Sheba - an exotic and mysterious woman of power - is immortalised in the world's great religious works, among them the Hebrew Bible and the Muslim Koran. She also appears in Turkish and Persian painting, in Kabbalistic treatises, and in medieval Christian mystical works, where she is viewed as the embodiment of Divine Wisdom and a foreteller of the cult of the Holy Cross. In Africa and Arabia her tale is still told to this day and, indeed, her tale has been told and retold in many lands for nearly 3,000 years.

Particle physicist Prof. Brian Cox asks, 'What time is it?' It's a simple question and it sounds like it has a simple answer. But do we really know what it is that we're asking? Brian visits the ancient Mayan pyramids in Mexico where the Maya built temples to time. He finds out that a day is never 24 hours and meets Earth's very own Director of Time. He journeys to the beginning of time, and goes beyond within the realms of string theory, and explores the very limit of time. He discovers that we not only travel through time at the speed of light, but the experience we feel as the passing of time could be an illusion.

Deep in the Bolivian Andes at the height of 13,000ft stands Tiwanaku, the awe-inspiring ruins of a monolithic temple city. Built by a civilisation who dominated a vast swathe of South America, it was abandoned 1,000 years ago. For centuries it has been a mystery - how did a civilisation flourish at such an altitude and why did it vanish? Jago Cooper journeys through Bolivia's spectacular landscape to investigate the origins of Tiwanaku and finds evidence of an ancient people with amazing understanding of their environment, whose religion was based on collective effort and ritual beer drinking.

When ancient Greece fell into decline, mathematical progress stagnated as Europe entered the Dark Ages, but in the East mathematics reached new heights. In the second episode, Du Sautoy explores how maths helped build imperial China and discovers how the symbol for the number zero was invented in India. He also looks at the Middle Eastern invention of algebra and how mathematicians such as Fibonacci spread Eastern knowledge to the West.

Carl Sagan teaches students in a classroom in his childhood home in Brooklyn, New York, which leads into a history of the different mythologies about stars and the gradual revelation of their true nature. In ancient Greece, some philosophers (Aristarchus of Samos, Thales of Miletus, Anaximander, Theodorus of Samos, Empedocles, Democritus) freely pursue scientific knowledge, while others (Plato, Aristotle, and the Pythagoreans) advocate slavery and epistemic secrecy.