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<!DOCTYPE html>
<html lang="en">
<head>
<!-- meta -->
<meta charset="utf-8">
<meta content="width=device-width, initial-scale=1.0" name="viewport">
<title>Dayi Ethan Dong</title>
<meta content="" name="keywords">
<meta content="" name="description">
<!-- Google Fonts -->
<link href="https://fonts.googleapis.com/css?family=Poppins:300,300i,400,400i,500,500i,600,600i,700,700i|Playfair+Display:400,400i,700,700i,900,900i" rel="stylesheet">
<!-- Bootstrap CSS File -->
<link href="lib/bootstrap/css/bootstrap.min.css" rel="stylesheet">
<!-- Libraries CSS Files -->
<link href="lib/ionicons/css/ionicons.min.css" rel="stylesheet">
<link href="lib/owlcarousel/assets/owl.carousel.min.css" rel="stylesheet">
<link href="lib/magnific-popup/magnific-popup.css" rel="stylesheet">
<link href="lib/hover/hover.min.css" rel="stylesheet">
<link rel="stylesheet" href="lib/academicons-1.9.4/css/academicons.min.css"/>
<!-- Main Stylesheet File -->
<link href="css/style.css" rel="stylesheet">
<!-- Responsive css -->
<link href="css/responsive.css" rel="stylesheet">
<!-- Favicon -->
<link rel="shortcut icon" href="images/e-icon.png">
<!-- =======================================================
Theme Name: Folio
Theme URL: https://bootstrapmade.com/folio-bootstrap-portfolio-template/
Author: BootstrapMade.com
Author URL: https://bootstrapmade.com
======================================================= -->
<style>
.button,
button,
input[type="submit"],
input[type="reset"],
input[type="button"] {
font: 25px/30px 'Poppins', helvetica;
background: #b8a07e;
display: inline-block;
text-decoration: none;
letter-spacing: 0;
color: #fff;
padding: 12px 20px;
margin-bottom: 18px;
border: none;
cursor: pointer;
height: auto;
-webkit-transition: all .2s ease-in-out;
-moz-transition: all .2s ease-in-out;
-o-transition: all .2s ease-in-out;
-ms-transition: all .2s ease-in-out;
transition: all .2s ease-in-out;
-moz-border-radius: 3px;
-webkit-border-radius: 3px;
-khtml-border-radius: 3px;
border-radius: 3px;
}
.button:hover,
button:hover,
input[type="submit"]:hover,
input[type="reset"]:hover,
input[type="button"]:hover {
background: #dbcebd;
color: #fff;
}
.button.full-width,
button.full-width,
input[type="submit"].full-width,
input[type="reset"].full-width,
input[type="button"].full-width {
width: 100%;
padding-left: 0 !important;
padding-right: 0 !important;
text-align: center;
}
.poster{
color:white;
}
.poster:visited{
color:white;
}
/* Fix for odd Mozilla border & padding issues */
button::-moz-focus-inner,
input::-moz-focus-inner {
border: 0;
padding: 0;
}
</style>
</head>
<body>
<!-- start section navbar -->
<nav id="main-nav">
<div class="row">
<div class="container">
<div class="logo">
<a href="index.html"><img src="images/dayilogoNEW.png" alt="logo"></a>
</div>
<div class="responsive"><i data-icon="m" class="ion-navicon-round"></i></div>
<ul class="nav-menu list-unstyled">
<li><a href="#header" class="smoothScroll">Home</a></li>
<li><a href="#about" class="smoothScroll">About</a></li>
<li><a href="#education" class="smoothScroll">Education</a></li>
<li><a href="#publication" class="smoothScroll">Publications</a></li>
<li><a href="#portfolio" class="smoothScroll">Experience</a></li>
<!-- <li><a href="#tutoring" class="smoothScroll">Tutoring</a></li> -->
<li><a href="#contact" class="smoothScroll">Contact</a></li>
</ul>
</div>
</div>
</nav>
<!-- End section navbar -->
<!-- start section header -->
<div id="header" class="home">
<div class="container">
<div class="header-content">
<h1>Hi, I'm Dayi Ethan Dong</h1>
<h2>I'm <span class="typed"></span></h2>
<p></p>
<ul class="list-unstyled list-social">
<li><a href="mailto:dayiethan@gmail.com"><i class="ion-email"></i></a></li>
<li><a href="https://www.linkedin.com/in/dayi-dong/" target="_blank"><i class="ion-social-linkedin"></i></a></li>
<li><a href="https://scholar.google.com/citations?user=2vDBmI0AAAAJ&hl=en" target="_blank"><i class="ai ai-google-scholar-square ai-3x"></i></a></li>
<li><a href="https://www.facebook.com/dayi.dong" target="_blank"><i class="ion-social-facebook"></i></a></li>
<li><a href="https://www.instagram.com/ethan_dong/" target="_blank"><i class="ion-social-instagram"></i></a></li>
<li><a href="https://x.com/dayi_dong" target="_blank"><i class="ion-social-twitter"></i></a></li>
</ul>
</div>
</div>
</div>
<!-- End section header -->
<!-- start section about us -->
<div id="about" class="paddsection">
<div class="container">
<div class="row justify-content-between">
<div class="col-lg-4 ">
<div class="div-img-bg">
<div class="about-img">
<img src="images/Ethan.jpg" class="img-responsive" alt="me">
</div>
</div>
</div>
<div class="col-lg-7">
<div class="about-descr">
<p class="p-heading">I have just graduated from Yale University with a BS in Mechanical Engineering and Computer Science and am pursuing a Ph.D. in Mechanical Engineering at the University of California Berkeley</p>
<p class="separator">
Since I was a kid I have been fascinated by robots and what they can do for us.
Now, I am pursing research in the field of robotics and have done work in Trajectory Optimmization and Path Planning,
specifically related to Ergodic Search.</p>
<p class="separator">
Currently, I am working in the ICON Lab under the advisement of Dr. Negar Mehr.
</p>
<div class="columns download">
<p>
<!-- <a target="_blank" style="color:white" href="documents/EthanDongResume.pdf" class="button" download>
<i class="ion-code-download" style="color:white;"></i> Download Resume
</a>
<br> -->
<a target="_blank" style="color:white" href="documents/Dayi Dong CV.pdf" class="button" download>
<i class="ion-code-download" style="color:white;"></i> Download CV
</a>
</p>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- end section about us -->
<!-- start section education -->
<div id="education" class="text-center paddsection">
<div class="container">
<div class="section-title text-center">
<h2>Education</h2>
</div>
</div>
<div class="container">
<div class="row">
<div class="col-md-12">
<div class="portfolio-container">
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="caldiv">
<img id="calimg" src="images/education/cal.png" alt="cal" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="yalediv">
<img id="yaleimg" src="images/education/yale.png" alt="yale" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="uwmadisondiv">
<img id="uwmadisonimg" src="images/education/uwmadison.png" alt="uwmadison" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="westdiv">
<img id="westimg" src="images/education/west.png" alt="west" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- end section education -->
<!-- start section publications -->
<div id="publication" class="text-center paddsection">
<div class="container">
<div class="section-title text-center">
<h2>Publications</h2>
</div>
</div>
<div class="container">
<div class="row">
<div class="col-md-12">
<div class="portfolio-container">
<div class="col-lg-3 col-md-3 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="mimicddiv">
<img id="mimicdimg" src="images/Publications/mimicd.png" alt="mimicd" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-3 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="LLMMCAdiv">
<img id="LLMMCAimg" src="images/Publications/LLMMCA.png" alt="LLMMCA" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-3 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="meshableergodicdiv">
<img id="meshableergodicimg" src="images/Publications/meshableergodic.png" alt="meshableergodic" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-3 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="timeoptimalmultiscalediv">
<img id="timeoptimalmultiscaleimg" src="images/Publications/timeoptimalmultiscale.png" alt="timeoptimalmultiscale" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-3 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="timeoptimalergodicdiv">
<img id="timeoptimalergodicimg" src="images/Publications/timeoptimalergodic.png" alt="timeoptimalergodic" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-3 portfolio-thumbnail all work volunteering leadership business awards research">
<a>
<div id="ergodiccbfdiv">
<img id="ergodiccbfimg" src="images/Publications/ergodiccbf.png" alt="ergodiccbf" style="width:300px; cursor:pointer;">
</div>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- end section publications -->
<!-- start section experience -->
<div id="portfolio" class="text-center paddsection">
<div class="container">
<div class="section-title text-center">
<h2>My Experience</h2>
</div>
</div>
<div class="container">
<div class="row">
<div class="col-md-12">
<div class="portfolio-list">
<ul class="nav list-unstyled" id="portfolio-flters">
<li class="filter filter-active" data-filter=".all">all</li>
<li class="filter" data-filter=".work">work</li>
<li class="filter" data-filter=".volunteering">volunteering</li>
<li class="filter" data-filter=".leadership">leadership</li>
<li class="filter" data-filter=".business">business</li>
<li class="filter" data-filter=".awards">awards</li>
<li class="filter" data-filter=".research">research</li>
</ul>
</div>
<div class="portfolio-container">
<div class="col-lg-3 col-md-6 portfolio-thumbnail all research work">
<a>
<div>
<img id="hri" src="images/portfolio/hri.png" alt="hri" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards research">
<a>
<div>
<img id="ndseg" src="images/portfolio/ndseg.png" alt="ndseg" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all volunteering">
<a>
<div>
<img id="berkelium" src="images/portfolio/berkelium.png" alt="berkelium" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards">
<a>
<div>
<img id="berkfellow" src="images/portfolio/berkfellow.png" alt="berkfellow" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards">
<a>
<div>
<img id="dwm" src="images/portfolio/dwm.png" alt="dwm" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards">
<a>
<div>
<img id="pbk" src="images/portfolio/pbk.png" alt="pbk" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work leadership research">
<a>
<div>
<img id="mrs" src="images/portfolio/mrs.png" alt="mrs" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards">
<a>
<div>
<img id="tbp" src="images/portfolio/tbp.png" alt="tbp" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards">
<a>
<div>
<img id="cra" src="images/portfolio/cra.png" alt="cra" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all awards">
<a>
<div>
<img id="rss23" src="images/portfolio/rss23.png" alt="rss23" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all research">
<a>
<div>
<img id="riss" src="images/portfolio/riss.png" alt="riss" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all research">
<a>
<div>
<img id="ialab" src="images/portfolio/ialab.png" alt="ialab" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work">
<a>
<div>
<img id="tutor" src="images/portfolio/tutor.png" alt="tutor" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work">
<a>
<div>
<img id="ivy" src="images/portfolio/ivy.png" alt="ivy" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work">
<a>
<div>
<img id="paschar" src="images/portfolio/paschar.png" alt="paschar" style="cursor:pointer;">
</div>
</a>
</div>
<div class="col-lg-3 col-md-6 portfolio-thumbnail all work">
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<h2>University of California Berkeley</h2>
<h4 style="text-align:center;color:#999999;">AUG 2024 - MAY 2029 <span> • </span> Berkeley, CA
<br>Ph.D. Mechanical Engineering
<br>Advisor: Dr. Negar Mehr</h4>
<br><br><br><br>
<br><a style="color:#b8a07e;" target="_blank" href="https://me.berkeley.edu/">Berkeley Mechanical Engineering</a>
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<h2>Yale University</h2>
<h4 style="text-align:center;color:#999999;">SEP 2020 - MAY 2024 <span> • </span> New Haven, CT
<br>B.S. Engineering Sciences (Mechanical) and B.S. Computer Science
<br>GPA: 3.95 | Major GPA: 3.99</h4>
<h1 style="text-align:left;color:black;font-size:25px;margin-bottom:10px;margin-top:20px;padding:0px;margin-left:6vw;">Awards:</h1>
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<ul>
<li>Magna Cum Laude</li>
<li>Distinction in both Majors</li>
<li>Donald Warren McCroskey Memorial Prize</li>
<li>Phi Beta Kappa Honor Society</li>
<li>Tau Beta Pi Engineering Honor Society</li>
</ul>
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<h1 style="text-align:left;color:black;font-size:25px;margin-bottom:10px;margin-top:20px;padding:0px;margin-left:6vw;">Notable Coursework:</h1>
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<td>CHNS 162: Advanced Modern Chinese for Heritage Speakers III</td>
<td>CHNS 163: Advanced Modern Chinese for Heritage Speakers III</td>
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<td>CPSC 489: Robot Learning</td>
<td>MENG 405: Introduction to Embedded Robotic Systems</td>
</tr>
<tr>
<td>CPSC 472: Intelligent Robootics</td>
<td>ENAS 773: Introduction to Robotics, Control, and Learning</td>
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<td>CPSC 470: Artificial Intelligence</td>
<td>CPSC 485: Applied Planning and Optimization</td>
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<br><br><br><br>
<!-- <p><a style="color:inherit;" href="https://seas.yale.edu/" target="_blank">Yale School of Engineering and Applied Science</a></p> -->
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<h2>University of Wisconsin Madison</h2>
<h4 style="text-align:center;color:#999999;">JUN 2018 - JUN 2020 <span> • </span> Madison, WI
<br>Dual Enrollment</h4>
<h1 style="text-align:left;color:black;font-size:25px;margin-bottom:10px;margin-top:20px;padding:0px;margin-left:6vw;"> Classes:</h1>
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<li>Math 234: Calculus - Functions of Several Variables
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<li>Grade: A</li>
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</li>
<li>Math 340: Elementary Matrix and Linear Algebra
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<li>Grade: A</li>
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</li>
<li>Computer Science 300: Programming II
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<li>Grade: A</li>
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<h2>West High School</h2>
<h4 style="text-align:center;color:#999999;margin-top:7px;">SEP 2016 - JUN 2020 <span> • </span> Madison, WI
<br>High School Diploma</h4>
<h1 style="text-align:left;color:black;font-size:25px;margin-bottom:10px;margin-top:20px;padding:0px;margin-left:6vw;"> AP Classes:</h1>
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<td>AP Calculus AB: 5</td>
<td>AP Calculus BC: 5</td>
<td>AP Chinese: 5</td>
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<td>AP Chemistry: 5</td>
<td>AP Biology: 4</td>
<td>AP Microeconomics: 5</td>
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<tr>
<td>AP Computer Science Principles: 4</td>
<td>AP Computer Science A: 5</td>
<td>AP Statistics: 5</td>
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<td>AP Physics 1: 5</td>
<td>AP Physics 2: 5</td>
<td>AP Physics C Mechanics: 5</td>
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<br><h1 style="text-align:left;color:black;font-size:25px;margin-bottom:10px;margin-top:15px;padding:0px;margin-left:6vw;"> Activities and Clubs:</h1>
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<td>FRC Robotics -- President; 3.5 years</td>
<td>West Men's Swim and Dive -- Varsity Swimmer; 4 years</td>
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<tr>
<td>Peer Tutors -- Student Tutor; 2.5 years</td>
<td>National Honor Society -- Member; 2.5 years</td>
</tr>
<tr>
<td>Spanish Honor Society -- Member; 2 years</td>
<td>Leo Club -- Volunteer; 2 years</td>
</tr>
<tr>
<td>Green Club -- Member; 2 years</td>
<td>Robotics Club -- Founder; 2 years</td>
</tr>
<tr>
<td>Science Bowl -- Co-Founder; 2 years</td>
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<br><h1 style="text-align:left;color:black;font-size:25px;margin-bottom:10px;margin-top:15px;padding:0px;margin-left:6vw;"> Standardized Testing:</h1>
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<tr>
<td>ACT: 36</td>
<td>SAT: 1570</td>
<td>PSAT: 1510</td>
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<tr>
<td>SAT Math II: 800</td>
<td>SAT Physics: 800</td>
<td>SAT Chemistry: 790</td>
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<h2>Safety-Critical Ergodic Exploration in Cluttered Environments</h2>
<h2>via Control Barrier Functions</h2>
<br><h4 style="text-align:center;color:#999999;">Accepted to ICRA 2023</h3>
<h4 style="text-align:center;color:#999999;">Second Author</h3>
<p style="text-align:left; margin-left:6vw;margin-right:6vw;"> In this paper, we address the problem of safe
trajectory planning for autonomous search and exploration
in constrained, cluttered environments. Guaranteeing safe
(collision-free) trajectories is a challenging problem that has
garnered significant due to its importance in the successful
utilization of robots in search and exploration tasks. This work
contributes a method that generates guaranteed safety-critical
search trajectories in a cluttered environment. Our approach
integrates safety-critical constraints using discrete control bar-
rier functions (DCBFs) with ergodic trajectory optimization to
enable safe exploration. Ergodic trajectory optimization plans
continuous exploratory trajectories that guarantee complete
coverage of a space. We demonstrate through simulated and
experimental results on a drone that our approach is able to
generate trajectories that enable safe and effective exploration.
Furthermore, we show the efficacy of our approach for safe
exploration using real-world single- and multi- drone platforms.</p>
<br>
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<p><a href="https://scholar.google.com/citations?view_op=view_citation&hl=en&user=2vDBmI0AAAAJ&citation_for_view=2vDBmI0AAAAJ:u5HHmVD_uO8C", style="color:#b8a07e;", target="_blank">Google Scholar</a> •
<a href="https://arxiv.org/abs/2211.04310", style="color:#b8a07e;", target="_blank">ArXiv</a> •
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<a href="https://drive.google.com/file/d/1amE9DVSgwebrX8MFBOs_CVjwsebWTYBk/view?usp=sharing", style="color:#b8a07e;", target="_blank">Poster</a></p>
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<h2>Time Optimal Ergodic Search</h2>
<br><h4 style="text-align:center;color:#999999;">Accepted to RSS 2023</h3>
<h4 style="text-align:center;color:#999999;">First Author</h3>
<h4 style="text-align:center;color:#fdc450;">Best Paper Award at RSS 2023</h3>
<p style="text-align:left; margin-left:6vw;margin-right:6vw;">Robots with the ability to balance time against the
thoroughness of search have the potential to provide time-critical
assistance in applications such as search and rescue. Current
advances in ergodic coverage-based search methods have enabled
robots to completely explore and search an area in a fixed
amount of time. However, optimizing time against the quality of
autonomous ergodic search has yet to be demonstrated. In this
paper, we investigate solutions to the time-optimal ergodic search
problem for fast and adaptive robotic search and exploration. We
pose the problem as a minimum time problem with an ergodic in-
equality constraint whose upper bound regulates and balances the
granularity of search against time. Solutions to the problem are
presented analytically using Pontryagin’s conditions of optimality
and demonstrated numerically through a direct transcription
optimization approach. We show the efficacy of the approach in
generating time-optimal ergodic search trajectories in simulation
and with drone experiments in a cluttered environment. Obstacle
avoidance is shown to be readily integrated into our formulation,
and we perform ablation studies that investigate parameter
dependence on optimized time and trajectory sensitivity for
search.</p>
<br>
<!-- <a style="color:#b8a07e;" target="_blank" href="https://scholar.google.com/citations?view_op=view_citation&hl=en&user=2vDBmI0AAAAJ&citation_for_view=2vDBmI0AAAAJ:u-x6o8ySG0sC">Paper Link</a> -->
<p><a href="https://scholar.google.com/citations?view_op=view_citation&hl=en&user=2vDBmI0AAAAJ&citation_for_view=2vDBmI0AAAAJ:u-x6o8ySG0sC", style="color:#b8a07e;", target="_blank">Google Scholar</a> •
<a href="https://arxiv.org/abs/2305.11643", style="color:#b8a07e;", target="_blank">ArXiv</a> •
<a href="https://youtu.be/ftQhK75Ri1E?t=17380", style="color:#b8a07e;", target="_blank">Video</a> •
<a href="https://drive.google.com/file/d/16y0-UHQLDbroJXAxTLVRZL8a43FmJby9/view?usp=sharing", style="color:#b8a07e;", target="_blank">Poster</a></p>
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