This study investigates the impact of control-sampling frequencies on a Permanent Magnet Synchronous Motor (PMSM) driven by a Pulse Amplitude Modulation (PAM) inverter, with particular emphasis on motor current balance, core loss, and copper loss at operating speeds of 1500 rpm and 2250 rpm. Experiments were conducted at six sampling frequencies, including 0.5,1,2,3,4, and 5 kHz. By increasing the sampling frequency, core and copper losses are minimized, leading to higher efficiency. At 1500 rpm, the efficiency rose from 77.43% at 0.5 kHz to 80.77% at 5 kHz, while at 2250 rpm, it improved more significantly, increasing from 64.92% to 82.6% over the same frequency range. The higher the sampling frequency, the lower the Total Harmonic Distortion (THD) of phase currents, especially between 0.5 kHz and 1 kHz. Based on waveform inspection and Fast Fourier Transform (FFT) analysis, higher frequencies result in smoother and more balanced three-phase currents with reduced harmonic distortion. The results suggest that a frequency range of 3-4 kHz is appropriate for achieving the best balance, minimizing harmonic distortion, and facilitating superior system control. The study emphasizes the importance of controlling the sampling frequency to enhance motor losses, efficiency, and the quality of the current waveform. © 2025 IEEE.

Battery management system (BMS) technology has taken a vital part in the electrical industries, specifically in renewable energy resources, electric vehicles (EV) and mobile robots. BMS has a variety of applications, monitoring the State of Charge (SOC) and the State of Health (SOH) are discussed in this paper. A new model based on control algorithms is proposed, and battery current and voltage are involved in the process. A few of the current approaches are being mentioned but just focus on a few methods. In detail, the SOC from the Extended Kalman Filter has an accuracy almost similar to the real-time performance. Moreover, the State of Health's performance is inverse to that of the State of Charge. Besides that, all the following methods are examined in detail for the estimation and real-time performance, furthermore, estimation errors are also being carefully examined to enhance the battery accuracy. © 2025 IEEE.

In structured and complex environments such as warehouses, the possibility of the robots moving around is based on the existence of accurate and detailed maps. This paper proposes a concept for the integration of occupancy grid maps created by two robots consisting in a singular and detailed picture of the surroundings. One such topic is occupancy grid map which is created by each of the two robots that identify know, occupied, and unknown territory and posted on separate, relevant ROS2 topics. To have a complete picture of the environment, the map's boundary coordinates are computed, and every individual map grid is copied as a coordinate system that is then translated to the merged images. One map is used as a prominent source, but other maps are permitted to help fill voids in the primary map so that a consolidated, complete occupancy grid map is produced and distributed on ROS2 topic /merge_map. The final unified map facilitates better coordination between the robots and navigation, including better exploration within the warehouse. © 2025 IEEE.