During the Age of Discovery, sailing ships figured in European voyages around Africa to China and Japan; and across the Atlantic Ocean to North and South America. Later, sailing ships ventured into the Arctic to explore northern sea routes and assess natural resources. In the 18th and 19th centuries sailing vessels made Hydrographic surveys to develop charts for navigation and, at times, carried scientists aboard as with the voyages of James Cook and the Second voyage of HMS "Beagle" with naturalist Charles Darwin.