Moons of Uranus these five, Titania, is 1,578 km in diameter and the eighth-largest moon in the Solar System, and about one-twentieth the mass 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, and the other three ellipsoidal moons were discovered in 1851 by William Lassell (Ariel and Umbriel) and in 1948 by Gerard Kuiper (Miranda). These five have planetary mass,
Oberon (moon) and is probably differentiated into a rocky core and an icy mantle. A layer of liquid water may be present at the boundary between the mantle and the core. The surface of Oberon, which is dark and slightly red in color, appears to have been primarily shaped by asteroid and comet impacts. It is covered by numerous impact craters reaching 210 km in diameter. Oberon possesses a system of "chasmata" (graben or scarps) formed during crustal extension as a result of the expansion of its interior during its early evolution. The Uranian system has been studied up close only once: