Organisms do not adapt to a pregiven world. Organisms and environment mutually specify each other. Organisms drift naturally in the environment. Environmental regularities arise from the interaction between a living organism and its environment. The world of an organism is enacted by the history of its structural coupling with the environment.
Cognitive structures emerge from the recurrent sensorimotor activity that enables such a process.
The organization of a system is the set of relations that define it as a unity. The structure of a system the set of relations among its components. The organization of a system is independent of the properties of its components. A machine can be realized by many sets of components and relations among them. Homeostatic systems are systems that keep the values of their variables within a small range of values, i.e. whose organization makes all feedback internal to them.