Metarobotics aims to combine next generation wireless communication, multi-sense immersion, and collective intelligence to provide a pervasive, itinerant, and non-invasive access and interaction with distant robotized applications. Industry and society are expected to benefit from these functionalities. For instance, robot programmers will no longer travel worldwide to plan and test robot motions, even collaboratively. Instead, they will have a personalized access to robots and their environments from anywhere, thus spending more time with family and friends. Students enrolled in robotics courses will be taught under authentic industrial conditions in real-time. This paper describes objectives of Metarobotics in society, industry, and in-between. It identifies and surveys technologies likely to enable their completion and provides an architecture to put forward the interplay of key components of Metarobotics. Potentials for self-determination, self-efficacy, and work-life-flexibility in robotics-related applications in Society 5.0, Industry 4.0, and Industry 5.0 are outlined.

A new Carbon Majors Database report, which examines carbon dioxide emissions, found that just 57 companies were responsible for 80 percent of the global carbon dioxide emissions between 2016 and 2022. ExxonMobil, which topped the list of United States companies, contributed 1.4 percent of all global carbon dioxide emissions. It has net zero emissions targets. Nearly 200 parties adopted the 2015 Paris Agreement, committing to reduce greenhouse gas emissions. However, 58 of the 100 state- and investor-owned companies in the Carbon Majors Database have since increased their production.

In this work, a hybrid physics-based data-driven surrogate model for the microscale analysis of heterogeneous material is investigated. The proposed model benefits from the physics-based knowledge contained in the constitutive models used in the full-order micromodel by embedding them in a neural network. Following previous developments, this paper extends the applicability of the physically recurrent neural network (PRNN) by introducing an architecture suitable for rate-dependent materials in a finite strain framework. In this model, the homogenized deformation gradient of the micromodel is encoded into a set of deformation gradients serving as input to the embedded constitutive models. These constitutive models compute stresses, which are combined in a decoder to predict the homogenized stress, such that the internal variables of the history-dependent constitutive models naturally provide physics-based memory for the network. To demonstrate the capabilities of the surrogate model, we consider a unidirectional composite micromodel with transversely isotropic elastic fibers and elasto-viscoplastic matrix material. The extrapolation properties of the surrogate model trained to replace such micromodel are tested on loading scenarios unseen during training, ranging from different strain-rates to cyclic loading and relaxation. Speed-ups of three orders of magnitude with respect to the runtime of the original micromodel are obtained.

The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness inherent in their biological counterparts. A major limitation of these designs is their reliance on external sensors like rotary encoders, which restrict mechanical joint design and introduce bulk to the system. To address this constraint, we present a bio-inspired antagonistic robotic shoulder with two degrees of freedom powered by self-sensing hydraulically amplified self-healing electrostatic actuators. Our artificial muscle design decouples the high-voltage electrostatic actuation from the pair of low-voltage self-sensing electrodes. This approach allows for proprioceptive feedback control of trajectories in the task space while eliminating the necessity for any additional sensors. We assess the platform's efficacy by comparing it to a feedback control based on position data provided by a motion capture system. The study demonstrates closed-loop controllable robotic manipulators based on an inherent self-sensing capability of electrohydraulic actuators. The proposed architecture can serve as a basis for complex musculoskeletal joint arrangements.

Multi-objective reinforcement learning (MORL) is increasingly relevant due to its resemblance to real-world scenarios requiring trade-offs between multiple objectives. Catering to diverse user preferences, traditional reinforcement learning faces amplified challenges in MORL. To address the difficulty of training policies from scratch in MORL, we introduce demonstration-guided multi-objective reinforcement learning (DG-MORL). This novel approach utilizes prior demonstrations, aligns them with user preferences via corner weight support, and incorporates a self-evolving mechanism to refine suboptimal demonstrations. Our empirical studies demonstrate DG-MORL's superiority over existing MORL algorithms, establishing its robustness and efficacy, particularly under challenging conditions. We also provide an upper bound of the algorithm's sample complexity.

As solar power continues to grow and replace traditional energy sources, the need for reliable forecasting models becomes increasingly important to ensure the stability and efficiency of the grid. However, the management of these models still needs to be improved, and new tools and technologies are required to handle the deployment and control of solar facilities. This work introduces a novel framework named Cloud-based Analysis and Integration for Data Efficiency (CAIDE), designed for real-time monitoring, management, and forecasting of solar irradiance sensor farms. CAIDE is designed to manage multiple sensor farms simultaneously while improving predictive models in real-time using well-grounded Modeling and Simulation (M&S) methodologies. The framework leverages Model Based Systems Engineering (MBSE) and an Internet of Things (IoT) infrastructure to support the deployment and analysis of solar plants in dynamic environments. The system can adapt and re-train the model when given incorrect results, ensuring that forecasts remain accurate and up-to-date. Furthermore, CAIDE can be executed in sequential, parallel, and distributed architectures, assuring scalability. The effectiveness of CAIDE is demonstrated in a complex scenario composed of several solar irradiance sensor farms connected to a centralized management system. Our results show that CAIDE is scalable and effective in managing and forecasting solar power production while improving the accuracy of predictive models in real time. The framework has important implications for the deployment of solar plants and the future of renewable energy sources.

New technology for energy storage is necessary for the large-scale adoption of renewable energy sources like wind and solar. The ability to discover suitable catalysts is crucial for making energy storage more cost-effective and scalable. The Open Catalyst Project aims to apply advances in graph neural networks (GNNs) to accelerate progress in catalyst discovery, replacing Density Functional Theory-based (DFT) approaches that are computationally burdensome. Current approaches involve scaling GNNs to over 1 billion parameters, pushing the problem out of reach for a vast majority of machine learning practitioner around the world. This study aims to evaluate the performance and insights gained from using more lightweight approaches for this task that are more approachable for smaller teams to encourage participation from individuals from diverse backgrounds. By implementing robust design patterns like geometric and symmetric message passing, we were able to train a GNN model that reached a MAE of 0.0748 in predicting the per-atom forces of adsorbate-surface interactions, rivaling established model architectures like SchNet and DimeNet++ while using only a fraction of trainable parameters.

To reach high performance with deep learning, hyperparameter optimization (HPO) is essential. This process is usually time-consuming due to costly evaluations of neural networks. Early discarding techniques limit the resources granted to unpromising candidates by observing the empirical learning curves and canceling neural network training as soon as the lack of competitiveness of a candidate becomes evident. Despite two decades of research, little is understood about the trade-off between the aggressiveness of discarding and the loss of predictive performance. Our paper studies this trade-off for several commonly used discarding techniques such as successive halving and learning curve extrapolation. Our surprising finding is that these commonly used techniques offer minimal to no added value compared to the simple strategy of discarding after a constant number of epochs of training. The chosen number of epochs depends mostly on the available compute budget. We call this approach i-Epoch (i being the constant number of epochs with which neural networks are trained) and suggest to assess the quality of early discarding techniques by comparing how their Pareto-Front (in consumed training epochs and predictive performance) complement the Pareto-Front of i-Epoch.

Machine learning plays an important role in the operation of current wind energy production systems. One central application is predictive maintenance to increase efficiency and lower electricity costs by reducing downtimes. Integrating physics-based knowledge in neural networks to enforce their physical plausibilty is a promising method to improve current approaches, but incomplete system information often impedes their application in real world scenarios. We describe a simple and efficient way for physics-constrained deep learning-based predictive maintenance for wind turbine gearbox bearings with partial system knowledge. The approach is based on temperature nowcasting constrained by physics, where unknown system coefficients are treated as learnable neural network parameters. Results show improved generalization performance to unseen environments compared to a baseline neural network, which is especially important in low data scenarios often encountered in real-world applications.

Batteries are dynamic systems with complicated nonlinear aging, highly dependent on cell design, chemistry, manufacturing, and operational conditions. Prediction of battery cycle life and estimation of aging states is important to accelerate battery R&D, testing, and to further the understanding of how batteries degrade. Beyond testing, battery management systems rely on real-time models and onboard diagnostics and prognostics for safe operation. Estimating the state of health and remaining useful life of a battery is important to optimize performance and use resources optimally. This tutorial begins with an overview of first-principles, machine learning, and hybrid battery models. Then, a typical pipeline for the development of interpretable machine learning models is explained and showcased for cycle life prediction from laboratory testing data. We highlight the challenges of machine learning models, motivating the incorporation of physics in hybrid modeling approaches, which are needed to decipher the aging trajectory of batteries but require more data and further work on the physics of battery degradation. The tutorial closes with a discussion on generalization and further research directions.