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,
Io (moon) green glows in the same image) have also been observed. Io (moon) Io (Jupiter I) is the innermost of the four Galilean moons of the planet Jupiter. It is the fourth-largest moon, has the highest density of all the moons, and has the least amount of water of any known astronomical object in the Solar System. It was discovered in 1610 and was named after the mythological character Io, a priestess of Hera who became one of Zeus' lovers. With over 400 active volcanoes, Io is the most geologically active object in the Solar System. This extreme geologic activity is