the speed of light) from the choice of inertial system. In his initial presentation of special relativity in 1905 he expressed these postulates as: The principle of relativity – the laws by which the states of physical systems undergo change are not affected, whether these changes of state be referred to the one or the other of two systems in uniform translatory motion relative to each other. The principle of invariant light speed – "... light is always propagated in empty space with a definite velocity [speed] c which is independent of the state of motion of the emitting body" (from the preface). That is, light in vacuum propagates with the speed c (a fixed constant, independent of direction) in at least one system of inertial coordinates (the "stationary system"), regardless of the state of motion of the light source. The constancy of the speed of light was motivated by Maxwell's theory of electromagnetism and the lack of evidence for the luminiferous ether. There is conflicting evidence on the extent to which Einstein was influenced by the null result of the Michelson–Morley experiment. In any case, the null result of the Michelson–Morley experiment helped the notion of the constancy of the speed of light gain widespread and rapid acceptance. The derivation of special relativity depends not only on these two explicit postulates, but also on several tacit assumptions (made in almost all theories of physics), including the isotropy and homogeneity of space and the independence of measuring rods and clocks from their past history. Following Einstein's original presentation of special relativity in 1905, many different sets of postulates have been proposed in various alternative derivations. However, the most common set of postulates remains those employed by Einstein in his original paper. A more mathematical statement of the principle of relativity made later by Einstein, which introduces the concept of simplicity not mentioned above is: Henri Poincaré provided the mathematical framework for relativity theory by proving that Lorentz transformations are a subset of his Poincaré group of symmetry transformations. Einstein later derived these transformations from his axioms. Many of Einstein's papers present derivations of the Lorentz transformation based upon these two principles. Principle of relativity Reference frames and relative motion Reference frames play a crucial role in relativity theory. The term reference frame as used here is an observational perspective in space that is not undergoing any change in motion (acceleration),