Projects

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Projects

Research projects

Robotic optimization
arXiv 2025
Paper | Thesis | Code

We developed a robotic setup able to prepare cappuccinos, evaluate their quality, and optimize the preparation process. We carried out a series of experiments which proved that Bayesian Optimization managed to identify the system parameters to prepare the coffee with optimal qualities.

Space3D-Bench
ECCV Workshop 2024
Webpage | Thesis

We created a benchmark on 3D Q&A for LLM systems, consiting of 1'000 questions with answers. We developed a RAG-based solution that leveraged various modalities (text, images, SQL DB and navigation meshes) to answer the spatial questions from the dataset.

Teleoperation
MIPRO 2021
Paper

We investigated the usage of User Datagram Protocol for two-way communication between an Android mobile device and Robot Operating System. As a case study, we implemented a solution for controlling the Turtlebot3 differential drive mobile robot with the use of ROS.

From ROVs to AUVs
MIPRO 2022
Paper

We presented a comparative analysis of the underwater robot design steps using PWr Diving Crew project's robots, where simplified ROVs were improved to AUVs. We then described the altered approach to the problem in the successive vehicle generations.

Laser triangulation
MIPRO 2022
Paper

We designed a laser triangulator intended to be mounted on AUVs and ROVs. The operation principles for the device were simplified, allowing for relatively cheap creation, yet holding the required features. This research was completed with tests above and under the water.

ROV/AUV simulator
IAS 2022
Paper

We developed a Unity3D framework, which i.a. supports communication with ROV/AUV systems (collects observations via simulated sensors and controls simulated actuators), gathers data sets for online training, and randomizes parts of the environment to test the system's robustness.

Independent projects

Path smoothing
03-07.2023
Report | Slides

Smooth trajectory generation for coverage path planning, evaluated with underwater robots on scanning missions.

SMB@RSS2023
07.2023
Slides

Solution for localization, exploration, artefacts logging and mapping for an SMB robot during RSS 2023.

bRIGHT
05.2023
Slides | Code

GPT-based app for questions related to local law developed during Datathon 2023 AWS Challange.

3D human poses
05.2023
Technical report

Estimating multiple human 3D poses (LISST-style) based on images received from multiview cameras.

Spot & Hololens
09-12.2022
Technical report

Utilizing Hololens AR device to remotely operate a robotic arm of Boston Dynamics' Spot quadruped.

Grandma app
09-12.2022
Technical report

Development of an app facilitating the process of baking to compare the user experience of different recipes layouts.

ROV4
2019-2020
Technical report

Fourth generation of PWr Diving Crew's underwater vehicle, initially remotely operated, improved to an autonomous one.

Blue Nemo
2020-2022
Technical report

Fifth generation of PWr Diving Crew's underwater vehicle, enhanced with a set of sensors to perform tasks autonomously.

Waddles
03-06.2021
Report (PL) | Code

Holonomic robot with mecanum wheels, STM32 as the main processing unit and a custom Android control app.

Clone simulator
01-06.2022
Project website

MuJoCo simulation for Clone Inc. biomimetic, robotic hand, animated with a set of artificial hydraulic muscles.

GolemOS
03-06.2021
Project website

Poky-based operating system development for QEMU, RPi and Jetson Nano according to Yocto Project.

MeteoViz
03-06.2021
Report (PL) | Code

Qt5 C++ desktop application offerring a weather forecast visualization for a selected city in Poland.

Inventory app
03-06.2020
Report (PL) | Code

Kivy Python desktop app for student organization's equipment renting, connected to a MySQL database.

Drone simulator
03-06.2019
Code

C++ object programming course project on drone simulator with obstacle detection and collision avoidance.

EBEC projects
IAS 2022
Bee hives | Scooter

Outcome of the two rounds of the EBEC team competition - smart bee hives and autonomous scooters.

Network plan
03-06.2020
Report (PL)

Convention centre analysis and a plan for network establishment, including wires, routers and other devices.

Fanuc programs
03-06.2021
Report (PL) | Video

One of the course projects performed in Roboguide simulation on collaboration of LR Mate i200C robots.

Embedded projects

IoT bulglar alarm
Code

A system managing two ESP32 boards, a PIR sensor, LEDs, a buzzer with MQTT to send information about detected movements.

PWM LL library
Code

The repository contains code managing PWM on STM32F103RB with the usage of LL library. The functions can be adjusted to other STM boards.

Sonar UART
Code

The program is intended for STMF303RB connected with via UART protocol to Ping Sonar Altimeter and Echosounder from Blue Robotics.

Key matrix
Code

The code support the management of a matrix of buttons on ATmega328P. It handles buttons' contact bounce.

LED matrix
Code

The repository contains the code allowing for displaying a heart on a matrix of LEDs connected via shift registers to ATmega328P.

Animated heart
Code

This project is a modification of the previous project (this time without shift registers) with an animated heart on a LED matrix.

PWM AVR
Code

The code manages a PWM signal, making the servo move accordingly to the degree values sent over UART from a console to Arduino Nano.

RGB LED control
Code

The program is responsible for managing a RGB LED using Arduino Nano, an LC display with a menu and a button matrix for choice selection.

AI projects

Emotion recognition
Documentation

As a part of the university project, we trained the Convolutional Neural Network to recognize human emotions from face images. Pretrained neural networks (MobileNetV2 and EfficientNetB0) were used as baseline models, while the optimal architectures and hyper-parameters were found with the help of 4-fold cross validation.

Face mask detection
Documentation | Code

The objective of this project was to implement a neural network that detects human faces and classifies them into three categories - with mask, without a mask and with a mask worn incorrectly. I used YOLOv5, but I decided to extend the project with a custom CNN that classifies images into two classes (with mask and without a mask).

Tic Tac Toe with MINMAX
Documentation (PL) | Code

This is the terminal implementation of the "Tic Tac Toe" game with an minmax algorithm as an opponent. When the program is launched, the user can specify the size of the square board, the number of characters in a row that results in a victory, the signs of the players (of both the user and the algorithm) and the starting player.

Sorting algorithms
Documentation (PL) | Code

Three sorting algorithms - merge sort, quick sort and introspective sort - have been implemented and compared in terms of processing time. The efectiveness of the algorithms was tested on randomly generated arrays of various sizes. Some of the arrays were partly, fully or reversely sorted before being fed into the sorting programs.

Dijkstra algorithm
Documentation (PL) | Code

The repository contains the adjacency matrix and adjacency list implementations of a graph. The Dijkstra algorithm, whose objective is to find the shortest path in a graph, was evaluated on both implementations. The randomly generated graphs, on which the effectiveness was tested, had various denisties and numbers of vertices.

Checkmate issue
Code

The aim of the implemented program is to determine, if - for the given chessboard situation - the white figures have a checkmate possibility within one move. If it is not feasible, then the black figures' possibilities are analysed. Several assumptions were made (e.g. castles, en passants and promotions are not checked).

King's nightmare
Documentation (PL) | Code

The problem to solve was the problem of knocking out the black king with the white bishop. The jumper couldn't be out in the hitting range of the black rook, nor could it visit any field more than once. Two algorithms were applied as the solution - depth-first search (DFS) algorithm and the A* heuristic-based algorithm.

Disclaimer

This website was created for portfolio-related purposes with the help of open-source code from free-css and images from Unsplash. It is not meant to be a commercial product. All the shared files (university reports, project codes etc.) can be modified and copied provided that the original author is mentioned (MIT license).

Check out some of my repositories
Roboccino RAG3D-Chat Space3D-Bench Turtlebot teleoperation 3D human pose estimation Waddles Mask project with CNN
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