Charles Darwin developed the theory of evolution by natural selection based on his observations during a voyage aboard the HMS Beagle. He noticed variations between species on different islands that helped some individuals survive and reproduce more than others. Over generations, beneficial variations became more common in populations through the natural selection process. Evolution can occur gradually over a long period of time or in short bursts through punctuated equilibrium. The fossil record, homologous and vestigial structures, and similarities in DNA provide evidence that evolution has occurred.