From this set of considerations, Boyd concluded that to maintain an accurate or effective grasp of reality one must undergo a continuous cycle of interaction with the environment geared to assessing its constant changes. Boyd, though he was hardly the first to do so, then expanded Darwin's theory of evolution, suggesting that natural selection applies not only in biological but also in social contexts (such as the survival of nations during war or businesses in free market competition). Integrating these two concepts, he stated that the decision cycle was the central mechanism of adaptation (in a social context) and that increasing one's own rate and accuracy of assessment vis-a-vis one's counterpart's rate and accuracy of assessment provides a substantial advantage in war or other forms of competition. The key to survival and autonomy is the ability to adapt to change, not perfect adaptation to existing circumstances. Indeed, Boyd noted that radical uncertainty is a necessary precondition of physical and mental vitality: all new opportunities and ideas spring from some mismatch between reality and ideas about it, as examples from the history of science, engineering and business illustrate.