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A novel leaky-wave antenna is demonstrated and developed at Ka-band in this work based on the newly proposed half-mode substrate integrated waveguide (HWSIW). This antenna is accurately simulated by using a full-wave electromagnetic simulator and then fabricated through a single-layer printed circuit board (PCB) process. Wide bandwidth and a quasi-omnidirectional radiation pattern are obtained. The proposed antenna is therefore a good candidate for millimeter-wave applications. Measured results are in good agreement with simulated results.