Poincaré observed that the perception of space is based on active movements, and relies on the notions of invariance, covariation between sensors and environment, and active compensation ( [179], [180], [181], [182]). The research of Piaget has proved the importance of various kinds of geometrical invariance in cognitive and behaviorial development ( [173], [177], [176]). To him intelligence is a form of adaptation, the continuous process of using the environment for learning ( [174]). Adaptation is a process that can happen at the scale of evolution, development or functioning. In ecology, or in population biology and genetics, it means the adjustment or change in behavior, physiology, and structure of an organism to become more suited to an environment, thus better fitted to survive and passing their genes on to the next generation (Darwin plus Mendel, [45]).