Uranus, the seventh planet of the Solar System, has 27 known moons, most of which are named after characters that appear in, or are mentioned in, the works of William Shakespeare and Alexander Pope. Uranus's moons are divided into three groups: thirteen inner moons, five major moons, and nine irregular moons. The inner and major moons all have prograde orbits, while orbits of the irregulars are mostly retrograde. The inner moons are small dark bodies that share common properties and origins with Uranus's rings. The five major moons are ellipsoidal, indicating that they reached hydrostatic equilibrium at some point in their past (and may still be in equilibrium), and four of them show signs of internally driven processes such as canyon formation and volcanism on their surfaces. The largest of these five, Titania, is 1,578 km in diameter and the eighth-largest moon in the Solar System, about one-twentieth the mass of the Earth's Moon. The orbits of the regular moons are nearly coplanar with Uranus's equator, which is tilted 97.77° to its orbit. Uranus's irregular moons have elliptical and strongly inclined (mostly retrograde) orbits at large distances from the planet. William Herschel discovered the first two moons, Titania and Oberon, in 1787. The other three ellipsoidal moons were discovered in 1851 by William Lassell (Ariel and Umbriel) and in 1948 by Gerard Kuiper (Miranda). These five may be in hydrostatic equilibrium, and so would be considered dwarf planets if they were in direct orbit about the Sun. The remaining moons were discovered after 1985, either during the Voyager 2 flyby mission or with the aid of advanced Earth-based telescopes. Discovery The first two moons to be discovered were Titania and Oberon, which were spotted by Sir William Herschel on January 11, 1787, six years after he had discovered the planet itself. Later, Herschel thought he had discovered up to six moons (see below) and perhaps even a ring. For nearly 50 years, Herschel's instrument was the only one with which the moons had been seen. In the 1840s, better instruments and a more favorable position of Uranus in the sky led to sporadic indications of satellites additional to Titania and Oberon. Eventually, the next two moons, Ariel and Umbriel, were discovered by William Lassell in 1851. The Roman numbering scheme of Uranus's moons was in a state of flux for a considerable time, and publications hesitated between Herschel's designations (where