Board of Trustees Distinguished Professor &
Marianne E. Klewin Endowed Professor in Engineering
Office: ITE 351
Phone: (860) 486-4823
- B.S., Electrical Engineering, Technion (Israel), 1963
- M.S., Electrical Engineering, Technion (Israel), 1967
- Ph.D., Electrical Engineering, Princeton University, 1970
Bayesian Estimation Theory with application to remote sensing and information theoretic methods for combination of data from multiple sources.
- Fellow, Institute of Electrical and Electronics Engineers (IEEE)
- President of ISIF for 2000 and 2002
- Connecticut Academy of Science and Engineering
Transitions to Industry/Government
1a. DSTO (Defense Science and Technology Organization) in Australia implemented the PDAF (Probabilistic Data Association Filter) in the Jindalee OTHR and this was a key factor in making the system work in spite of the heavy false alarm rate.
1b. Raytheon (Bedford/Marlborough, MA) has implemented a JPDA (Joint Probabilistic Data Association) tracker for their ASDE-X (Airport Surface Detection Equipment, X-band),ROTHR (Relocatable Over the Horizon Radar), GBR (Ground Based Radar for National Missile Defense) and in the THAAD (Theater High Altitude Antiballistic Defense).
1c. The new Air Traffic Control tracking algorithm Raytheon developed for the FAA (as well as for export) is based on the IMM estimator. Impact: Superior performance in all situations compared to the Kalman filter.
2. The image feature (target centroid) extraction and tracking algorithm have been implemented in the ARROW ABM (Antiballistic Missile) sponsored by BMDO (Ballistic MissileDefense Organization). This system has reached operational capability.
3. ORINCON (San Diego, CA) adopted the Variable Structure Interacting Multiple Model (VSIMM) Estimator for the next generation GMTI tracker – to DARPA AMSTE program. Impact: Significantly higher accuracy than the Kalman Filter or plain IMM.
4. ETC (Mystic, CT) implemented the IMMPDAFAI algorithm for tracking a low SNR (Signal to Noise Ratio) maneuvering target with an active sonar. This has been transitioned to the USN Fleet (System 53).
5. JHAPL (Baltimore, MD; Contact: David Porter; http://techdigest.jhuapl.edu/TD/td3103/index.htm) implemented
our classification-aided data association. This brings feature data related to target type into the data association, and the algorithmwas deployed in a system which is providing important information for operators.
6. NUWC (Newport, RI) needed an algorithm for the tracking of rapidly maneuvering targets executing coordinated turns. The “interacting multiple model estimator with unbiased mixing (IMM-UM)” was integrated into the software of the guidance system for an underwater platform chasing another (extremely fast and agile) underwater platform. The IMM-UM advanced tracker capability improved the chasing platform’s performance so it met the requirements and carried out a successful intercept in a sea test without the need for hardware modifications, which would have been too expensive and the program would have been terminated.
7. Raytheon (Bedford/Marlborough, MA; Contact: Fred Daum) applied the PDAF in over 50 real world radars, with excellent performance. These applications include the following modern long range radars:
(1) 8 THAAD radars (phased array radars for high altitude theater ballistic missile defense); (2) SBX (sea based phased array radar for ICBM defense); (3) 4 ROTHR radars (phased array relocatable over the horizon radars for tracking ships and aircraft); (4) GBR-P (prototype phased array radar for ballistic missile defense); (5) 40 ASDE-X radars (X-Band rotating radars for tracking aircraft aloft and on the tarmac, as well as trucks and people and sacred cows at airports); and (6) Cobra Dane (L-Band long range phased array radar for tracking ICBMs, SLBMs and satellites). In the aggregate,this represents over 50 radars, costing a total of several billion dollars.
8. NSWC (Naval Surface Warfare Center, Dahlgren, VA) carried out in 1997 a real-time experiment for radar management and tracking with an IMM (Interacting Multiple Model) target tracker on a land-based Aegis SPY-1B radar, resulting in radar energy savings of about 50% for precision tracking. This algorithm will be incorporated by Lockheed Martin into the Navy’s Aegis advanced radar system upgrade to enhance its capabilities.
9. Northrop-Grumman (Bethpage, NY) implemented our debiasing procedure for polar-to-Cartesian measurement conversion in the Navy E-2C/D AEW (Airborne Early Warning) system. They also adopted our IMM estimator for the AEW upgrade.
10. BAE Systems (Nashua, NH) is using our ML-PDA algorithm for passive tracking for the Electronic Warfare system of the JSF (F-35). Impact: Ability to localize VLO (very low observable) targets.
Archival Technical Journal Publications:
- H. Chen, T. Kirubarajan and Y. Bar-Shalom, ” Tracking of Spawning Targets with Multiple Finite Resolution Sensors “, IEEE Trans. Aerosp. Electronic Systems, AES-44(1):2-14, Jan. 2008.
- W. Blanding, P. Willett, Y. Bar-Shalom and R. Lynch, ” Offline and Real Time Methods for ML-PDA Track Validation “, IEEE Trans. Signal Processing, 55(5):1994-2006, May 2007.
- A. Isaac, P. Willett and Y. Bar-Shalom, ” MCMC Methods for Tracking Two Closely Spaced Targets Using Monopulse Radar Channel Signals “, IET Radar, Sonar & Navigation, 1(3):221-229, June 2007.
- E. Bashan, A. J. Weiss and Y. Bar-Shalom, ” Estimation Near Zero Information Points: Angle of Arrival Near the Endfire “, IEEE Trans. Aerosp. Electronic Systems, 43(4):1250-1264, Oct. 2007.
- W. Blanding, P. Willett, Y. Bar-Shalom and R. Lynch, ” Directed Subspace Search ML-PDA with Application to Active Sonar Tracking “, IEEE Trans. Aerosp. Electronic Systems}, 44(1):201-216, Jan. 2008.
- X. Zhang, P.K. Willett and Y. Bar-Shalom, ” Uniform vs. Nonuniform Sampling When Tracking in Clutter “, IEEE Trans. Aerosp. Electronic Systems, AES-42(2):388-400, April 2006.
- X. Lin and Y. Bar-Shalom, ” Multisensor Target Tracking Performance with Bias Compensation “, IEEE Trans. Aerosp. Electronic Systems, 42(3):1139-1149, July 20068. Also in Proc. SPIE Conf. Signal and Data Processing of Small Targets, #5913-34, San Diego, CA, Aug. 2005.
- Y. Bar-Shalom, S. S. Blackman and R. J. Fitzgerald, ” The Dimensionless Score Function for Measurement to Track Association “, IEEE Trans. Aerosp. Electronic Systems, 43(1):392-400, Jan. 2007. Also in Proc. SPIE Conf. Signal and Data Processing of Small Targets, #5913-50, San Diego, CA, Aug. 2005.
- Y. Bar-Shalom and Huimin Chen, ” Track-to-Track Association for Tracks with Features and Attributes “, J. of Advances in Information Fusion, 2(1):49-59, June 2007. Also in Proc. SPIE Conf. Signal and Data Processing of Small Targets, #5913-43, San Diego, CA, Aug. 2005.
- Y. Bar-Shalom and H. Chen, ” Multisensor Track-to-Track Association for Tracks with Dependent Errors “, J. of Advances in Information Fusion, 1(1):3-15, July 2006. Also in Proc. 43rd IEEE Conf. on Decision and Control, Nassau, Bahamas, Dec. 2004.
- Y. Bar-Shalom, X. Zhang, P. K. Willett and I. Segall, ” Applications of Level Crossing Theory to Intervisibility – To Be Seen or Not To Be Seen?, ” , IEEE Trans. Aerosp. Electronic Systems, ES-41(3):840–852, July 2005.
- Y. Bar-Shalom, T. Kirubarajan, and C. Gokberk, “Tracking with Classification-Aided Multiframe Data Association, ” IEEE Trans. Aerosp. Electronic Systems, AES-41(3):868–878, July 2005.
- Y. Bar-Shalom, X. D. Lin and T. Kirubarajan, ” Multisensor-Multitarget Bias Estimation for General Asynchronous Sensors, ” IEEE Trans. Aerosp. Electronic Systems, AES-41(3):899–921, July 2005.
- Y. Bar-Shalom, L. Lin and T. Kirubarajan,” Pursuer Identification and Time-to-Go Estimation Using Passive Measurements from an Evader, ” IEEE Transactions on Aerospace Electronic Systems, Vol. 41, No. 1, pp. 190-204, January, 2005.
- Y. Bar-Shalom and H. Chen, ” IMM Estimator with Out-of-Sequence Measurements, ” IEEE Transactions on Aerospace Electronic Systems, Vol. 41, No. 1, pp. 90-98, January, 2005.
- Y. Bar-Shalom, L. Kaplan and A. Sinha, ” Comments on Maximum Likelihood Angle Extractor for Two Closely Spaced Targets, ” , IEEE Transactions on Aerospace Electronic Systems, Vol. 41, No. 1, pp. 383-384, January, 2005.
- Y. Bar-Shalom, Z. Wang, A. Sinha and P. K. Willett,” Angle Estimation for Two Unresolved Targets with Monopulse Radar, ” IEEE Transactions on Aerospace Electronic Systems, Vol. 40, No. 3, pp. 998-1019, July, 2004.
- Conference Proceedings & Other Publications:
- ” Multisensor Management and Fusion Algorithms for Target Tracking, ” (with M. Kalandros, L. Trajlovic and L. Pao), Proceedings of the 2004 Automatic Control Conference, July, 2004.
- ” Multisensor Track-to-Track Association for Tracks with Dependent Errors, ” (with H. Chen), Proceedings of the 43rd IEEE Conference on Decision and Control, Nassau, Bahamas, December, 2004.
- ” Autonomous Ground Target Tracking by Multiple Cooperative UAVs, ” Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, MT, March, 2005.
- ” Covert Sonar Tracking, ” (with W. Blanding and P. K. Willett), Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, MT, March, 2005.
- ” The Dimensionless Score Function for Measurement to Track Association, ” (with S. S. Blackman and R. J. Fitzgerald), Proceedings of the ONR/GTRI Workshop on Tracking, Maui, HI, June, 2005.
- Y. BarShalom, T. Kirubarajan, and X. D. Lin, Probabilistic Data Assocition Techniques, IEEE Systems Magazine, 2004.
- X. D. Lin, Y. BarShalom and T. Kirubarajan, Bias Estimation without A Priori Association, Proc. SPIE Conf. Signal and Data Processing, San Diego, CA, August 2003.
- A. Sinha, Y. BarShalom, W. D. Blair and T. Kirubarajan, Measurement Extraction in the Presence of SeaSurface Multipath, IEEE Trans. Aerosp. Electronic Systems, AES39(2):550–567, April 2003.
- H. Chen, T. Kirubarajan and Y. BarShalom, Performance Limits of Centralized Estimation, IEEE Trans. Aerosp. Electronic Systems, 39(2):386– 400, April 2003.
- X. Zhang, P.K. Willett and Y. BarShalom, A Dynamic Posterior CrameRao Lower Bound Target Tracking in Clutter, Proc.40th IEEE Conf. Decision and Control, Las Vegas, NV, Dec. 2002.
- P. Willett, R. Niu and Y. BarShalom, Integration of Bayesian Detection, IEEE Trans. Signal Processing, 49(1):17–29, Jan. 2001.
- A. Sinha, T. Kirubarajan and Y. BarShalom, Maximum Likelihood Angle Extractor, IEEE Trans. Aerosp. Electronic Systems, 38(1):183–203, Jan. 2002.
- T. Kirubarajan, H. Chen and Y. BarShalom, Parameter Estimation and the CRLB with Uncertain Origin Measurements, Methodology and Computing in Applied Probability, 3(4):387–410, Dec. 2001.
- R. Niu, P.K. Willett and Y. BarShalom, Matrix CRLB Scaling Due to Measurements of Uncertain Origin, IEEE Trans. on Signal Processing, 49(7):1325–1335, July 2001.
- Y. BarShalom, X. R. Li and T. Kirubarajan, Estimation with Applications, J. Wiley and Sons, 2001.
- H. Wang, T. Kirubarajan, Y. Li and Y. BarShalom, Advanced Estimation and Optimization for Air Traffic Control, Perspectives in Control: Theory and Applications, (D. NormandCyrot, ed.) Springer, 1998.
- L. Campo, Y. BarShalom and X. R. Li, Control of DiscreteTime Hybrid Stochastic Systems, International Series on Advances in Control and Dynamic Systems, vol. 76, (C.T. Leondes, ed.), Academic Press, 1996.
” Network Level Association of Kinematic and Attribute Information. “
” Multisensor Surveillance and Tracking for BMD. “
” Estimation for Networked Systems. “
” Data Association and Consistent Tracking. “
- Chair, Journal of Advances in Information Fusion (official journal of ISIF) Steering Committee.
- Vice-President for Publications of ISIF for 2004.
- Elected Member, Board of Directors, International Society for Information Fusion (1998-2005).
- Chair and Session Organizer, 2005 IEEE Aerospace Conference.
- Session Chair, 43rd IEEE Conference on Decision and Control, Nassau, Bahamas, December, 2004.
- Member, Department of Defense Single Integrated Air Picture Task Force (2003-2008).
- Member, IEEE AESS Technical Panel for Sensor Data Processing Systems.
- ” Multisensor-Multitarget Bias Estimation for General Asynchronous Sensors, ” (with X. D. Lin and T. Kirubarajan), AFOSR Workshop on Information Fusion, August, 2004.
- Short Course ” Target Tracking, ” presented at the Department of Defense JSSEO, March, 2005.
- Short Course NATO RTA, Ankara, Turkey, May, 2005.
- ” Target Tracking and Data Fusion: How to Get the Most Out of Your Sensors, ” The IEEE Aerospace and Electronic Systems Society Distinguished Lecture given to the Long Island, New York IEEE Section, October 4, 2004.
- ” Target Tracking and Data Fusion: How to Get the Most Out of Your Sensors, ” The IEEE Aerospace and Electronic Systems Society Distinguished Lecture given to the Ankara, Turkey IEEE Section, May, 2005.
- ” Target Tracking and Data Fusion: How to Get the Most Out of Your Sensors, ” NATO Lecture given to the Turkish Air Force Research Center, May, 2005
Fall 2020 Semester Lectures: