After French mathematician, Rene Descartes, this coordinate system consists of three orthogonal axes (directions) following the “right-hand rule”. According to this rule, the axis x is arbitrary; however, axis (direction) y is always perpendicular to x. Once these two axes are established, using the right hand to rotate x-axis on to y-axis, the direction of thumb shows the positive direction for the z-axis, which is perpendicular to the xy plane.