Abstract: A method to generate recognition, auto-adaptation and self-organization in autonomous mechanisms and organisms. A number of sensing elements generate analog signals whose amplitudes are classified into different classes of perception intensity. The currently occurring elapse times between phase transitions are recorded and compared with prior recorded elapse times in order to find covariant time sequences and patterns. A motion actuating system can be coupled to the assembly, which is controlled by pulse sequences that have been modulated in accordance with the covariant time sequences. In this way the mechanism or organism in motion is prompted to emulate the found covariant time sequences, while being able to recognize its own motion course and adapting itself to changes of environment.