Moons of Uranus 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 Titania and Oberon are Uranus II and IV) and William Lassell's (where they are sometimes I and II). With the confirmation of Ariel and Umbriel, Lassell numbered the moons I through IV
Definition of planet object can be irregular in shape, but beyond that point gravity begins to pull an object towards its own centre of mass until the object collapses into an ellipsoid. (None of the large objects of the Solar System are truly spherical. Many are spheroids, and several, such as the larger moons of Jupiter and Saturn and the dwarf planet , have been further distorted into ellipsoids by rapid rotation or tidal forces, but still in hydrostatic equilibrium.) However, there is no precise point at which an object can be said to have reached hydrostatic equilibrium. As Soter noted in his