Moons of Uranus irregular moons have been identified using ground-based telescopes. Two more small inner moons, Cupid and Mab, were discovered using the Hubble Space Telescope in 2003. As of 2016, the moon Margaret was the last Uranian moon discovered, and its characteristics were published in October 2003. After Herschel discovered Titania and Oberon on January 11, 1787, he subsequently believed that he had observed four other moons: two on January 18 and February 9, 1790, and two more on February 28 and March 26, 1794. It was thus believed for many decades thereafter that Uranus had a system of six satellites, though
Moons of Neptune formed "in situ". Triton and Nereid are unusual irregular satellites and are thus treated separately from the other five irregular Neptunian moons, which are more like the outer irregular satellites of the other outer planets. Firstly, they are the largest two known irregular moons in the Solar System, with Triton being almost an order of magnitude larger than all other known irregular moons. Secondly, they both have atypically small semi-major axes, with Triton's being over an order of magnitude smaller than those of all other known irregular moons. Thirdly, they both have unusual orbital eccentricities: Nereid has one of the