I don't know that it is easy to measure or 'know' the residual life of a battery. Batteries are designed with a certain amount of stored chemical energy - which corresponds to so many Watt-hrs (in units of Power * time = Energy).
As you mentioned, the voltage also decreases slightly with age.
One could perhaps with knowledge of the designed life (energy capacity), subtract the energy used, and estimate the remining stored energy.
One way to measure battery life is to take a population of batteries and simply run them down -
http://www.energyquest.ca.gov/projects/battery.htmlHere is an interesting website on batteries -
http://www.batteryuniversity.com/index.htmWell that's a good start. I dig around to see what else is out there, and meanwhile I'll think about the other questions.