{"id":4,"date":"2017-01-13T21:36:50","date_gmt":"2017-01-13T21:36:50","guid":{"rendered":"http:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/?page_id=4"},"modified":"2020-12-23T00:04:06","modified_gmt":"2020-12-23T00:04:06","slug":"home","status":"publish","type":"page","link":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/","title":{"rendered":"Home"},"content":{"rendered":"<p style=\"text-align: justify;\"><b><br \/>\n<img loading=\"lazy\" decoding=\"async\" style=\"border: 0pt none; float: left; padding-right: 10px; padding-bottom: 10px;\" src=\"http:\/\/www.ee.uconn.edu\/wp-content\/uploads\/2018\/08\/Bar-Shalom_2018.jpg\" alt=\"\" width=\"100\" height=\"150\" border=\"1\" hspace=\"5\" \/><b><\/b>Yaakov Bar-Shalom<\/b><br \/>\nBoard of Trustees Distinguished Professor &amp;<br \/>\nMarianne E. Klewin Endowed Professor in Engineering<br \/>\nOffice: ITE 351<br \/>\nPhone: (860) 486-4823<br \/>\nEmail:\u00a0<a href=\"mailto:ybs@engr.uconn.edu\">ybs@engr.uconn.edu<\/a><br \/>\n<a href=\"http:\/\/www.ee.uconn.edu\/faculty.php?f_id=4\"><br \/>\n<\/a><\/p>\n<p style=\"text-align: justify;\"><b>Education:<\/b><\/p>\n<ul>\n<li>B.S., Electrical Engineering, Technion (Israel), 1963<\/li>\n<li>M.S., Electrical Engineering, Technion (Israel), 1967<\/li>\n<li>Ph.D., Electrical Engineering, Princeton University, 1970<\/li>\n<\/ul>\n<p style=\"text-align: justify;\"><b>Research Interests:<br \/>\n<\/b>Bayesian Estimation Theory with application to remote sensing and information theoretic methods for combination of data from multiple sources.<\/p>\n<p style=\"text-align: justify;\"><b>Memberships:<\/b><\/p>\n<ul>\n<li>Fellow, Institute of Electrical and Electronics Engineers (IEEE)<\/li>\n<li>President of ISIF for 2000 and 2002<\/li>\n<li>Connecticut Academy of Science and Engineering<\/li>\n<\/ul>\n<p><b>Transitions to Industry\/Government<\/b><\/p>\n<div><\/div>\n<p>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 \u00a0spite of the heavy false alarm rate.<\/p>\n<p>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).<\/p>\n<p>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.<\/p>\n<p>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.<\/p>\n<p>3. ORINCON (San Diego, CA) adopted the Variable Structure Interacting Multiple Model (VSIMM) Estimator for the next generation GMTI tracker &#8211; to DARPA AMSTE program. Impact: Significantly higher accuracy than the Kalman Filter or plain IMM.<\/p>\n<p>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).<\/p>\n<p>5. JHAPL (Baltimore, MD; Contact: David Porter; http:\/\/techdigest.jhuapl.edu\/TD\/td3103\/index.htm) implemented<\/p>\n<p>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.<\/p>\n<p>6. NUWC (Newport, RI) needed an algorithm for the tracking of rapidly maneuvering targets executing coordinated turns. The &#8220;interacting multiple model estimator with unbiased mixing (IMM-UM)&#8221; 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&#8217;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.<\/p>\n<p>7. Raytheon (Bedford\/Marlborough, MA; Contact: Fred Daum) applied the PDAF in over 50 real world radars, with excellent performance. \u00a0These applications include the following modern long range radars:<\/p>\n<p>(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). \u00a0In the aggregate,this represents over 50 radars, costing a total of several billion dollars.<\/p>\n<p>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 \u00a0on 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&#8217;s Aegis advanced radar system upgrade to enhance its capabilities.<\/p>\n<p>9. Northrop-Grumman (Bethpage, NY) implemented our debiasing procedure for polar-to-Cartesian measurement conversion in the Navy E-2C\/D\u00a0 AEW (Airborne Early Warning) system. They also adopted our IMM estimator for the AEW upgrade.<\/p>\n<p>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.<\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: justify;\"><a name=\"pub\"><\/a><b>Recent Publications:<\/b><br \/>\nArchival Technical Journal Publications:<\/p>\n<ul>\n<li>H. Chen, T. Kirubarajan and Y. Bar-Shalom, &#8221; Tracking of Spawning Targets with Multiple Finite Resolution Sensors &#8220;, IEEE Trans. Aerosp. Electronic Systems, AES-44(1):2-14, Jan. 2008.<\/li>\n<li>W. Blanding, P. Willett, Y. Bar-Shalom and R. Lynch, &#8221; Offline and Real Time Methods for ML-PDA Track Validation &#8220;, IEEE Trans. Signal Processing, 55(5):1994-2006, May 2007.<\/li>\n<li>A. Isaac, P. Willett and Y. Bar-Shalom, &#8221; MCMC Methods for Tracking Two Closely Spaced Targets Using Monopulse Radar Channel Signals &#8220;, IET Radar, Sonar &amp; Navigation, 1(3):221-229, June 2007.<\/li>\n<li>E. Bashan, A. J. Weiss and Y. Bar-Shalom, &#8221; Estimation Near Zero Information Points: Angle of Arrival Near the Endfire &#8220;, IEEE Trans. Aerosp. Electronic Systems, 43(4):1250-1264, Oct. 2007.<\/li>\n<li>W. Blanding, P. Willett, Y. Bar-Shalom and R. Lynch, &#8221; Directed Subspace Search ML-PDA with Application to Active Sonar Tracking &#8220;, IEEE Trans. Aerosp. Electronic Systems}, 44(1):201-216, Jan. 2008.<\/li>\n<li>X. Zhang, P.K. Willett and Y. Bar-Shalom, &#8221; Uniform vs. Nonuniform Sampling When Tracking in Clutter &#8220;, IEEE Trans. Aerosp. Electronic Systems, AES-42(2):388-400, April 2006.<\/li>\n<li>X. Lin and Y. Bar-Shalom, &#8221; Multisensor Target Tracking Performance with Bias Compensation &#8220;, 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.<\/li>\n<li>Y. Bar-Shalom, S. S. Blackman and R. J. Fitzgerald, &#8221; The Dimensionless Score Function for Measurement to Track Association &#8220;, 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.<\/li>\n<li>Y. Bar-Shalom and Huimin Chen, &#8221; Track-to-Track Association for Tracks with Features and Attributes &#8220;, 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.<\/li>\n<li>Y. Bar-Shalom and H. Chen, &#8221; Multisensor Track-to-Track Association for Tracks with Dependent Errors &#8220;, 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.<\/li>\n<li>Y. Bar-Shalom, X. Zhang, P. K. Willett and I. Segall, &#8221; Applications of Level Crossing Theory to Intervisibility &#8211; To Be Seen or Not To Be Seen?, &#8221; , IEEE Trans. Aerosp. Electronic Systems, ES-41(3):840&#8211;852, July 2005.<\/li>\n<li>Y. Bar-Shalom, T. Kirubarajan, and C. Gokberk, &#8220;Tracking with Classification-Aided Multiframe Data Association, &#8221; IEEE Trans. Aerosp. Electronic Systems, AES-41(3):868&#8211;878, July 2005.<\/li>\n<li>Y. Bar-Shalom, X. D. Lin and T. Kirubarajan, &#8221; Multisensor-Multitarget Bias Estimation for General Asynchronous Sensors, &#8221; IEEE Trans. Aerosp. Electronic Systems, AES-41(3):899&#8211;921, July 2005.<\/li>\n<li>Y. Bar-Shalom, L. Lin and T. Kirubarajan,&#8221; Pursuer Identification and Time-to-Go Estimation Using Passive Measurements from an Evader, &#8221; IEEE Transactions on Aerospace Electronic Systems, Vol. 41, No. 1, pp. 190-204, January, 2005.<\/li>\n<li>Y. Bar-Shalom and H. Chen, &#8221; IMM Estimator with Out-of-Sequence Measurements, &#8221; IEEE Transactions on Aerospace Electronic Systems, Vol. 41, No. 1, pp. 90-98, January, 2005.<\/li>\n<li>Y. Bar-Shalom, L. Kaplan and A. Sinha, &#8221; Comments on Maximum Likelihood Angle Extractor for Two Closely Spaced Targets, &#8221; , IEEE Transactions on Aerospace Electronic Systems, Vol. 41, No. 1, pp. 383-384, January, 2005.<\/li>\n<li>Y. Bar-Shalom, Z. Wang, A. Sinha and P. K. Willett,&#8221; Angle Estimation for Two Unresolved Targets with Monopulse Radar, &#8221; IEEE Transactions on Aerospace Electronic Systems, Vol. 40, No. 3, pp. 998-1019, July, 2004.<\/li>\n<li>Conference Proceedings &amp; Other Publications:<\/li>\n<li>&#8221; Multisensor Management and Fusion Algorithms for Target Tracking, &#8221; (with M. Kalandros, L. Trajlovic and L. Pao), Proceedings of the 2004 Automatic Control Conference, July, 2004.<\/li>\n<li>&#8221; Multisensor Track-to-Track Association for Tracks with Dependent Errors, &#8221; (with H. Chen), Proceedings of the 43rd IEEE Conference on Decision and Control, Nassau, Bahamas, December, 2004.<\/li>\n<li>&#8221; Autonomous Ground Target Tracking by Multiple Cooperative UAVs, &#8221; Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, MT, March, 2005.<\/li>\n<li>&#8221; Covert Sonar Tracking, &#8221; (with W. Blanding and P. K. Willett), Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, MT, March, 2005.<\/li>\n<li>&#8221; The Dimensionless Score Function for Measurement to Track Association, &#8221; (with S. S. Blackman and R. J. Fitzgerald), Proceedings of the ONR\/GTRI Workshop on Tracking, Maui, HI, June, 2005.<\/li>\n<\/ul>\n<p style=\"text-align: justify;\"><a name=\"opub\"><\/a><b>Other Publications:<\/b><\/p>\n<ul>\n<li>Y. Bar\u00adShalom, T. Kirubarajan, and X. D. Lin, Probabilistic Data Assocition Techniques, IEEE Systems Magazine, 2004.<\/li>\n<li>X. D. Lin, Y. Bar\u00adShalom and T. Kirubarajan, Bias Estimation without A Priori Association, Proc. SPIE Conf. Signal and Data Processing, San Diego, CA, August 2003.<\/li>\n<li>A. Sinha, Y. Bar\u00adShalom, W. D. Blair and T. Kirubarajan, Measurement Extraction in the Presence of Sea\u00adSurface Multipath, IEEE Trans. Aerosp. Electronic Systems, AES\u00ad39(2):550&#8211;567, April 2003.<\/li>\n<li>H. Chen, T. Kirubarajan and Y. Bar\u00adShalom, Performance Limits of Centralized Estimation, IEEE Trans. Aerosp. Electronic Systems, 39(2):386&#8211; 400, April 2003.<\/li>\n<li>X. Zhang, P.K. Willett and Y. Bar\u00adShalom, A Dynamic Posterior Crame\u00adRao Lower Bound Target Tracking in Clutter, Proc.40th IEEE Conf. Decision and Control, Las Vegas, NV, Dec. 2002.<\/li>\n<li>P. Willett, R. Niu and Y. Bar\u00adShalom, Integration of Bayesian Detection, IEEE Trans. Signal Processing, 49(1):17&#8211;29, Jan. 2001.<\/li>\n<li>A. Sinha, T. Kirubarajan and Y. Bar\u00adShalom, Maximum Likelihood Angle Extractor, IEEE Trans. Aerosp. Electronic Systems, 38(1):183&#8211;203, Jan. 2002.<\/li>\n<li>T. Kirubarajan, H. Chen and Y. Bar\u00adShalom, Parameter Estimation and the CRLB with Uncertain Origin Measurements, Methodology and Computing in Applied Probability, 3(4):387&#8211;410, Dec. 2001.<\/li>\n<li>R. Niu, P.K. Willett and Y. Bar\u00adShalom, Matrix CRLB Scaling Due to Measurements of Uncertain Origin, IEEE Trans. on Signal Processing, 49(7):1325&#8211;1335, July 2001.<\/li>\n<li>Y. Bar\u00adShalom, X. R. Li and T. Kirubarajan, Estimation with Applications, J. Wiley and Sons, 2001.<\/li>\n<li>H. Wang, T. Kirubarajan, Y. Li and Y. Bar\u00adShalom, Advanced Estimation and Optimization for Air Traffic Control, Perspectives in Control: Theory and Applications, (D. Normand\u00adCyrot, ed.) Springer, 1998.<\/li>\n<li>L. Campo, Y. Bar\u00adShalom and X. R. Li, Control of Discrete\u00adTime Hybrid Stochastic Systems, International Series on Advances in Control and Dynamic Systems, vol. 76, (C.T. Leondes, ed.), Academic Press, 1996.<\/li>\n<\/ul>\n<p style=\"text-align: justify;\"><a name=\"prj\"><\/a><b>Active Research Projects:<br \/>\n<\/b><\/p>\n<p style=\"text-align: justify;\">&#8221; Network Level Association of Kinematic and Attribute Information. &#8220;<\/p>\n<p style=\"text-align: justify;\">&#8221; Multisensor Surveillance and Tracking for BMD. &#8220;<\/p>\n<p style=\"text-align: justify;\">&#8221; Estimation for Networked Systems. &#8220;<\/p>\n<p style=\"text-align: justify;\">&#8221; Data Association and Consistent Tracking. &#8220;<\/p>\n<p style=\"text-align: justify;\"><b>Professional Activities:<\/b><\/p>\n<ul>\n<li>Chair, Journal of Advances in Information Fusion (official journal of ISIF) Steering Committee.<\/li>\n<li>Vice-President for Publications of ISIF for 2004.<\/li>\n<li>Elected Member, Board of Directors, International Society for Information Fusion (1998-2005).<\/li>\n<li>Chair and Session Organizer, 2005 IEEE Aerospace Conference.<\/li>\n<li>Session Chair, 43rd IEEE Conference on Decision and Control, Nassau, Bahamas, December, 2004.<\/li>\n<li>Member, Department of Defense Single Integrated Air Picture Task Force (2003-2008).<\/li>\n<li>Member, IEEE AESS Technical Panel for Sensor Data Processing Systems.<\/li>\n<\/ul>\n<p style=\"text-align: justify;\"><i>Presentations:<\/i><\/p>\n<ul>\n<li>&#8221; Multisensor-Multitarget Bias Estimation for General Asynchronous Sensors, &#8221; (with X. D. Lin and T. Kirubarajan), AFOSR Workshop on Information Fusion, August, 2004.<\/li>\n<li>Short Course &#8221; Target Tracking, &#8221; presented at the Department of Defense JSSEO, March, 2005.<\/li>\n<li>Short Course NATO RTA, Ankara, Turkey, May, 2005.<\/li>\n<\/ul>\n<p style=\"text-align: justify;\"><i>Keynote\/Plenary Talks:<\/i><\/p>\n<ul>\n<li>&#8221; Target Tracking and Data Fusion: How to Get the Most Out of Your Sensors, &#8221; The IEEE Aerospace and Electronic Systems Society Distinguished Lecture given to the Long Island, New York IEEE Section, October 4, 2004.<\/li>\n<li>&#8221; Target Tracking and Data Fusion: How to Get the Most Out of Your Sensors, &#8221; The IEEE Aerospace and Electronic Systems Society Distinguished Lecture given to the Ankara, Turkey IEEE Section, May, 2005.<\/li>\n<li>&#8221; Target Tracking and Data Fusion: How to Get the Most Out of Your Sensors, &#8221; NATO Lecture given to the Turkish Air Force Research Center, May, 2005<\/li>\n<\/ul>\n<p><b>Fall 2020 Semester Lectures:<\/b><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+02\/1_elbfys7v\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 2<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+03\/1_go26vyjh\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 3<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+04\/1_z7h3c94q\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 4<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+05\/1_grp3ten1\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 5<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+06\/1_68uglzoe\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 6<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+07\/1_q81oiy3q\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 7<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+08\/1_ojcm5uu2\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 8<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+09\/1_lm8pjqg2\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 9<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+10\/1_jhkpi28i\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 10<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+11\/1_rsq7bxve\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 11<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+12\/1_89z1m8yr\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 12<\/a><\/p>\n<p><a href=\"https:\/\/kaltura.uconn.edu\/media\/ECE6111+-+Lecture+13\/1_hdt2rvod\/192815433\" target=\"_blank\" rel=\"noopener noreferrer\">ECE-6111 Lecture 13<\/a><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Yaakov Bar-Shalom Board of Trustees Distinguished Professor &amp; Marianne E. Klewin Endowed Professor in Engineering Office: ITE 351 Phone: (860) 486-4823 Email:\u00a0ybs@engr.uconn.edu Education: B.S., Electrical Engineering, Technion (Israel), 1963 M.S., Electrical Engineering, Technion (Israel), 1967 Ph.D., Electrical Engineering, Princeton University, 1970 Research Interests: Bayesian Estimation Theory with application to remote sensing and information theoretic methods [&hellip;]<\/p>\n","protected":false},"author":51,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-4","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/pages\/4","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/users\/51"}],"replies":[{"embeddable":true,"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/comments?post=4"}],"version-history":[{"count":8,"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/pages\/4\/revisions"}],"predecessor-version":[{"id":15,"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/pages\/4\/revisions\/15"}],"wp:attachment":[{"href":"https:\/\/www.ee.uconn.edu\/yaakov-bar-shalom\/wp-json\/wp\/v2\/media?parent=4"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}