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Curriculum Vitae

Dmitry S. Yershov

E-mail: yershov@mit.edu
Phone: +1 617 253 6170
Skype: dmitry_s_yershov

Postdoctoral Associate in the ARES group,
Laboratory for Information and Decission Systems (LIDS),
Massachusetts Institute of Technology

Research interests

Robotics, Numerical Approximations in Optimal Control, Optimal Feedback Planning, Sensing and Inference, Information Space Planning

Education

Dec. 2013

Ph.D. in Computer Science
Department of Computer Science
University of Illinois at Urbana-Champaign
Advisers: Steven M. LaValle and Michael T. Heath

Aug. 2006

M.S. with high distinction in Applied Mathematics
Department of Mathematical Physics and Computational Mathematics
School of Mathematics and Mechanical Engineering
V.N. Karazin Kharkiv National University
Adviser: Prof. Yuriy V. Gandel

Aug. 2004

B.S. with high distinction in Applied Mathematics
School of Mathematics and Mechanical Engineering
V.N. Karazin Kharkiv National University

Aug. 2000

Research experience

present

Designing and analyzing fast numerical algorithms for optimal anytime incremental feedback robot motion planning. Also, investigating the topic of joint inference and control for low-power robotic systems.
Research Mentor: Prof. Emilio Frazzoli (Massachusetts Institute of Technology, USA)

2013

Proposed several fast numerical algorithms for solving Hamilton-Jacobi-Bellman equations. Investigated the influence of various performance improving techniques, such as heuristic-driven wavefront propagation and algebraic multigrid methods, on convergence of these algorithms.
Research advisers: Profs. Steven LaValle and Michael Heath (University of Illinois at Urbana-Champaign, USA)

2009

Implemented an accelerator particle tracking algorithm on nVidia graphics processors. Investigated different caching strategies for masking memory latency. Achieved 81x speedup compared to previous algorithm implementations on CPUs.
Research adviser: Ph.D. Andreas Kabel (SLAC National Accelerator Laboratory, Stanford, USA)

2008

Investigated boundary-element methods for solving 3D formulations of Generalized Poisson equations. Im- plemented a modified Multisummation method to reduce the computational complexity and the running time of the solver.
Research adviser: Prof. Stephen Bond (University of Illinois at Urbana-Champaign, USA)

2006

I was applying the compressible formulation of dynamic eddy-viscosity LES (Large Eddy Simulation) model into the finite volume central difference solver SPARC. Several numerical experiments were done to investigate the compressibility effects on the turbulence.
Research adviser: Dr.-Ing Franco Magagnato (Fachgebiet Strömungsmaschinen, Universität Karlsruhe (TH), Germany)

2005

I have investigated the problem of application hybrid RANS/LES models for turbulent flows to the modern Navier-Stokes solver FlowER-U. The various approaches for hybridization were considered. I have done numerical investigation on several test cases and compared obtained results with experimental data.
Research advisers: Prof. S.V. Yershov (Institute of Mechanical Engineering Problems UAS, Ukraine), Prof. Y.V. Gandel (Karazin Kharkiv National University, Ukraine)

2004

I developed software for automatic aerodynamic optimization of turbomachinery airfoil with the help of CFD code FlowER. The optimization method is based on genetic algorithm. The airfoil shape is described the Bezier curves.
Research advisers: Prof. S.V. Yershov (Institute of Mechanical Engineering Problems UAS)

2003

I have worked on the problem of universal parallelization of 3D viscous flow computations for computer systems with distributed and shared memory. I have developed and implemented a part of the algorithm for solving this problem, using the protocol TCP/IP.
Research advisers: Prof. S.V. Yershov (Institute of Mechanical Engineering Problems UAS)

2002

I have investigated the possibility of using the high-resolution Godunov's schemes of second- and third-order of accuracy for solving linear and non-linear hyperbolic equations, that are simulative for the Euler and Navier-Stokes equations. I have developed and implemented the algorithm for solving this problem.
Research advisers: Prof. S.V. Yershov (Institute of Mechanical Engineering Problems UAS), Prof. Y.V. Gandel (Karazin Kharkiv National University)

2001

I have investigated the possibility of using the high-resolution Godunov's schemes for solving the set of two non-linear hyperbolic equations with stiff source terms. I have developed and implemented the algorithm and program code for solving such equations.
Research advisers: Prof. S.V. Yershov (Institute of Mechanical Engineering Problems UAS), Dr.-Ing. D. Kardas (Institute of Fluid-Flow Machinery Polish AS)

I have worked on the optimization of the wing airfoil using the genetic algorithm and 2D CFD code. I have implemented this algorithm and the code for solving the problem.
Research adviser: Prof. S.V. Yershov (Institute of Mechanical Engineering Problems UAS)

2000

Publications

A complete list of publications.

Teaching experience

Fall 2009
Fall 2008
Spring 2008

Teaching Assistant for CS450 (Introduction to Numerical Analysis). I was holding office hours, designing homework problems, preparing and grading exams.
Supervisor: Prof. Stephen Bond and Prof. Anil Hirani (Computer Science Department, University Illinois Urbana-Champaign)

Fall 2007
Spring 2007

Teaching assistance for CS105 (Introduction to Computing with Application to Business and Commerce). I was teaching two discussion sections and holding office hours. I was also responsible for the lab matearial, homeworks, exam and quizzes preparation.
Supervisor: Prof. Marsha Woodbury and Prof. Tom Gambill (Computer Science Department, University Illinois Urbana-Champaign)

Fall 2006

Non-Contact Teaching assistance for CS225 (Data Structures and Software Principles). I was doing material preparation for the lab sections and exams grading.
Supervisor: Prof. Cinda Hereen (Computer Science Department, University Illinois Urbana-Champaign)

Honours & Awards

IROS 2011 Best Student Paper award

MS Diploma With Honor, Kharkiv National University, 2005

BS Diploma With Honor, Kharkiv National University, 2004

2004 Annual grant from Sopronov's foundation

2003 5th place in Ukrainian Competition among National Universities on Theoretical Mechanics, Dnipropetrovsk, Ukraine

2000 First prize honour on International Conference of Young Scientists, section of Computer Science, Nijmegen, the Netherlands

2000 First prize honour on the 5th Competition of research defenses organized by the Ukrainian Academy of Science, section of Computer Science, Kharkiv, Ukraine

2000 2nd place in Ukrainian National competition Peaceful Space, section of Computer Science, Dnipropetrovsk, Ukraine

2000 Distinction in 7th International Festival of Young Mathematicians and Physicists, Odessa, Ukraine

2000 3rd place in 2nd Ukrainian National Tournament of Young Mathematicians, Sumy, Ukraine

2000 3rd place in Kharkov Regional School Olympiad on Mathematics, Kharkiv, Ukraine

2000 3rd place in Kharkov Regional School Olympiad on Physics, Kharkiv, Ukraine

2000 1st place in Municipality School Olympiad on Mathematics, Kharkiv, Ukraine

1999 Certificate of Excellency in International Competition on Mathematics «Kangaroo-99», Kharkiv, Ukraine

1999 Distinction in International Conference of Young Scientists, section of Mathematics, Baranovichi, Byelorussia

1999 2nd place in Regional School Olympiad on Mathematics, Kharkiv, Ukraine

1999 2nd place in the 4th Competition of research defenses organized by the Ukrainian Academy of Science, section of Mathematics, Kharkiv, Ukraine

Professional Activities

Journal Reviewer:

International Journal of Robotics Research
IEEE Transactions on Robotics
Aerospace and Electronic Systems

Conference Reviewer:

Workshop on the Algorithmic Foundations of Robotics
IEEE International Conference on Robotics and Automation
IEEE International Conference on Intelligent Robots and Systems