Born in Shropshire in 1809, Charles Darwin studied at Cambridge before sailing on the survey ship HMS Beagle between 1831 and 1836. His subsequent journal, The Voyage of the Beagle, brought him fame and repute. In 1859 he published On the Origin of Species, which he repeatedly revised through six editions. These were followed by The Descent of Man and Selection in Relation to Sex, in which he fully applied his ideas of evolution to the human species. Darwin also published on subjects including botany, ecology and the expression of emotions in animal and man. He had ten children with his wife Emma, three of whom died in childhood. He died on 19 April 1882, aged 73.