Charles Robert Darwin was born in 1809 in Shrewsbury, England. At Cambridge University he formed a friendship with J. S. Henslow, a professor of botany, and that association, along with his enthusiasm for collecting beetles, led to "a burning zeal," as he wrote in his Autobiography, for the natural sciences. A voyage to the Southern Hemisphere on the H.M.S. Beagle between 1831 and 1836 would lay the foundation for The Origin of Species, published in 1859. His other works include The Descent of Man, and Selection in Relation to Sex (1871) and Recollections of My Mind and Character, also titled Autobiography (1887). Charles Darwin's Diary of the Voyage of the H.M.S. Beagle was published posthumously in 1933.