Charles Darwin (February 12, 1809-April 19, 1882), English naturalist and author, is best known for his theories on biological evolution. Darwin proposed that all species of life evolved over millions of years from common ancestors through a process he termed natural selection. He published his theories and supporting evidence, gathered largely during a 5-year scientific expedition aboard the H.M.S. Beagle, in On the Origin of Species (1859), a work considered to be the foundation on evolutionary biology. When the theories in Origin of Species first appeared, it created controversy but are largely accepted today. Other works include The Structure and Distribution of Coral Reefs (1842), The Descent of Man and Selection in Relation to Sex (1871), The Expression of the Emotions in Man and Animals (1872), and The Power of Movement in Plants (1880).