At the Boulder County Recycling Center in Colorado, two team members spend all day pulling items from a conveyor belt covered in junk collected from the area's bins. One plucks out juice cartons and plastic bottles that can be reprocessed, while the other searches for contaminants in the stream of paper products headed to a fiber mill. They are Sorty McSortface and Sir Sorts-a-Lot, AI-powered robots that each resemble a supercharged mechanical arm from an arcade claw machine. Developed by the tech start-up Amp Robotics, McSortface and Sorts-a-Lot's appendages dart down with the speed of long-beaked cranes picking fish out of the water, suctioning up items they've been trained to recognize. Yes, even recycling has gotten tangled up in the AI revolution. Amp Robotics has its tech in nearly 80 facilities across the U.S., according to a company spokesperson, and in recent years, AI-powered sorting from companies such as Bulk Handling Systems and MachineX has popped up in other recycling plants.

In the past decade, society has experienced notable growth in a variety of technological areas. However, the Fourth Industrial Revolution has not been embraced yet. Industry 4.0 imposes several challenges which include the necessity of new architectural models to tackle the uncertainty that open environments represent to cyber-physical systems (CPS). Waste Electrical and Electronic Equipment (WEEE) recycling plants stand for one of such open environments. Here, CPSs must work harmoniously in a changing environment, interacting with similar and not so similar CPSs, and adaptively collaborating with human workers. In this paper, we support the Distributed Adaptive Control (DAC) theory as a suitable Cognitive Architecture for managing a recycling plant. Specifically, a recursive implementation of DAC (between both singleagent and large-scale levels) is proposed to meet the expected demands of the European Project HR-Recycler. Additionally, with the aim of having a realistic benchmark for future implementations of the recursive DAC, a micro-recycling plant prototype is presented. Keywords: Cognitive Architecture, Distributed Adaptive Control, Recycling Plant, Navigation, Motor Control, Human-Robot Interaction.