gravitational waves cannot exist in the Newtonian theory of gravitation, which postulates that the physical interactions of gravity propagate at infinite speed. The first, indirect, detection of gravitational waves came in the 1970s through observation of a pair of closely orbiting neutron stars, PSR B1913+16. The explanation for the decay in their orbital period was that they were emitting gravitational waves. Einstein's prediction was confirmed on 11 February 2016, when researchers at LIGO published the first observation of gravitational waves, detected on Earth on 14 September 2015, nearly one hundred years after the prediction. Hole argument and Entwurf theory While developing general relativity, Einstein became confused about the gauge invariance in the theory. He formulated an argument that led him to conclude that a general relativistic field theory is impossible. He gave up looking for fully generally covariant tensor equations and searched for equations that would be invariant under general linear transformations only. In June 1913, the Entwurf ('draft') theory was the result of these investigations. As its name suggests, it was a sketch of a theory, less elegant and more difficult than general relativity, with the equations of motion supplemented by additional gauge fixing conditions. After more than two years of intensive work, Einstein realized that the hole argument was mistaken and abandoned the theory in November 1915. Physical cosmology In 1917, Einstein applied the general theory of relativity to the structure of the universe as a whole. He discovered that the general field equations predicted a universe that was dynamic, either contracting or expanding. As observational evidence for a dynamic universe was not known at the time, Einstein introduced a new term, the cosmological constant, to the field equations, in order to allow the theory to predict a static universe. The modified field equations predicted a static universe of closed curvature, in accordance with Einstein's understanding of Mach's principle in these years. This model became known as the Einstein World or Einstein's static universe. Following the discovery of the recession of the nebulae by Edwin Hubble in 1929, Einstein abandoned his static model of the universe, and proposed two dynamic models of the cosmos, The Friedmann–Einstein universe of 1931 and the Einstein–de Sitter universe of 1932. In each of these models, Einstein discarded the cosmological constant, claiming that it was "in any case theoretically unsatisfactory". In many Einstein biographies, it is claimed that Einstein referred to the cosmological