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Active sensors for local planning in mobile robotics 1st
Edition Penelope Probert Smith Digital Instant Download
Author(s): Penelope Probert Smith, Penny Probert Smith
ISBN(s): 9789812811141, 9812811141
Edition: 1st
File Details: PDF, 22.48 MB
Year: 2001
Language: english

World Scientific Series in Robotics and Intelligent Systems - Vol. 26
ACTIVE SENSORS FOR
LOCAL PLANNING IN
MOBILE ROBOTICS
PENELOPE PROBERT SMITH
World Scientific

ACTIVE SENSORS FOR
LOCAL PLANNING IN
MOBILE ROBOTICS

WORLD SCIENTIFIC SERIES IN ROBOTICS AND INTELLIGENT SYSTEMS
Editor-in-Charge: C J Harris (University of Southampton)
Advisor: T M Husband (University of Salford)
Published:
Vol. 10: Cellular Robotics and Micro Robotic Systems
(T Fukuda and T Ueyama)
Vol. 11: Recent Trends in Mobile Robots (Ed. YFZheng)
Vol. 12: Intelligent Assembly Systems (Eds. M Lee and J J Rowland)
Vol. 13: Sensor Modelling, Design and Data Processing for Autonomous Navigation
(M D Adams)
Vol. 14: Intelligent Supervisory Control: A Qualitative Bond Graph Reasoning
Approach (H Wang and D A Linkens)
Vol. 15: Neural Adaptive Control Technology (Eds. R Zbikowski and K J Hunt)
Vol. 17: Applications of Neural Adaptive Control Technology (Eds. J Kalkkuhl,
KJ Hunt, R Zbikowski and A Dzielinski)
Vol. 18: Soft Computing in Systems and Control Technology
(Ed. S Tzafestas)
Vol. 19: Adaptive Neural Network Control of Robotic Manipulators
(SSGe.TH Lee and C J Harris)
Vol. 20: Obstacle Avoidance in Multi-Robot Systems: Experiments in Parallel
Genetic Algorithms (MAC Gill and A YZomaya)
Vol. 21: High-Level Feedback Control with Neural Networks
(Eds. F L Lewis and Y H Kim)
Vol. 22: Odour Detection by Mobile Robots
(R. Andrew Russell)
Vol. 23: Fuzzy Logic Control: Advances in Applications
(Eds. H B Verbruggen and R Babuska)
Vol. 24: Interdisciplinary Approaches to Robot Learning
(Eds. J. Demiris and A. Birk)
Vol. 25: Wavelets in Soft Computing
(M. Thuillard)

World Scientific Series in Robotics and Intelligent Systems - Vol. 26
ACTIVE SENSORS FOR
LOCAL PLANNING
MOBILE ROBOTICS
PENELOPE PROBERT SMITH
University of Oxford, UK
V f e World Scientific
« • NewJersev London* Sine
NewJersey'London • Singapore • Hong Kong

Published by
World Scientific Publishing Co. Pte. Ltd.
P O Box 128, Farrer Road, Singapore 912805
USA office: Suite IB, 1060 Main Street, River Edge, NJ 07661
UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library.
ACTIVE SENSORS FOR LOCAL PLANNING IN MOBILE ROBOTICS
World Scientific Series in Robotics and Intelligent Systems - Volume 26
Copyright © 2001 by World Scientific Publishing Co. Pte. Ltd.
All rights reserved. This book, or parts thereof, may not be reproduced in anyform or by any means,
electronic or mechanical, includingphotocopying, recording or any information storage and retrieval
system now known or to be invented, without written permission from the Publisher.
For photocopying of material in this volume, please pay a copying fee through the Copyright
Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to
photocopy is not required from the publisher.
ISBN 981-02-4681-1
Printed in Singapore by World Scientific Printers

Preface
The goal of realising a machine which mimics the human ability to refine
and structure behaviour in a complex, dynamic world continues to drive
mobile robot research. Central to such ability is the need to gather and
manipulate rich information on the surroundings. Such a grand ambition
places stringent requirements on the sensing systems and on the interaction
between sensor and task.
One thing which has become clear in attempts to achieve this is the need
for diversity in sensing systems. The human vision system remains the in-
spiration for artificial analogues, but none can approach its sophistication
in terms of hardware or processing. Structured light systems, which mea-
sure range directly through using a light source to probe a specific area, are
a more reliable method for artificial planning. Their equivalent in sound,
sonar, has increased in adaptability and reliability, driven by collaboration
with bat biologists as well as from the more standard and established radar
literature. Radar itself is becoming cheaper.
Given such diversity, another requirement is a structure and method-
ology to share and optimise information. Two important paradigms have
arisen as a result. One is the idea of the logical sensor which hides the de-
tails of the physical sensing operation, so sensors may be specified in terms
of task and not in terms of technology: hence a task might require, for
example, a sensor to find line segments under particular conditions, rather
than a particular technology such as sonar. The other is the active sensor,
which abstracts and selects information according to demand - whether this
is through probing the environment physically - for example through emit-
ting radiation (the traditional active sensor) or through choice or tuning

VI Preface
of algorithms. This concept is an extension of the traditional formulation
of the active sensor which interacts with the environment through emit-
ting radiation such as sound or light. By developing sensors within this
framework we avoid the bottleneck of a large information repository.
Much of the work in this book is the result of research with which the
editor has been associated in Oxford. It is designed both to provide an
overview of the state of the art in active range and vision sensing and to
suggest some new developments for future work. It describes real systems
and sensors. Cross references have been included between chapters to de-
velop and relate concepts across and within a single sensing technique.
The book starts with a brief overview of the demands for local planning,
discussing the problem of finding a reliable architecture to handle complex-
ity and adaptability. It describes the concept of the active sensor, driven
by the task in hand and filtering information for that task, to provide a
fast, tight sensing-planning loop. It gives an overview of common sensing
technologies.
In mobile robots, a key requirement for planning is to find out where
the robot is within a known region - the localisation problem. Mapping,
the problem of extracting geometric or feature based information often un-
derlies this. Reliable mapping and localisation requires robust and versatile
sensors, and also a systematic method to handle the uncertainty inherent
in the sensors and in the robot's own position. Chapter 2 addresses generic
issues in mapping and localisation and introduces an important algorithm
which is referred to many times in the book, the extended Kalman filter.
Sensors which measure range directly are particularly useful for plan-
ning. Sensors active in the traditional sense are most important here and
most of the book deals with hardware and algorithms for the two most
common classes of these: sonar sensors and optoelectronic sensors.
The essential factor which distinguishes the way sensors in these classes
view the world is their wavelength. Whereas the data from optical sensors
naturally falls into standard geometric descriptions such as lines, corners
and edges, millimetre wave sensors such as sonar see the world rather dif-
ferently. Part II of the book discusses millimetre wave sensors. Significant
interpretation is required to extract data for comparison with a standard
geometric model. In spite of this, sonar is the commonest sensor used in
robotics, largely because of its low cost and easy availability. Another sensor
which operates in the millimetre band is high frequency radar - more expen-
sive but with very long range and so of great interest outdoors. Although

Preface vu
one of these sensors emits sound waves and the other electromagnetic waves,
because of the similar wavelength their data has many similar character-
istics. Chapter 3 discusses generally how these characteristics depends on
both the sensor geometry (especially the antenna) and target type.
Sonar has seen particular developments in the last ten years, from a
simple sensor used for obstacle avoidance to a sensor which will produce
reliable and robust maps. Chapters 4 to 6 describe how this has been
achieved through advances in hardware and data interpretation. Meth-
ods of modulation and signal processing drawn from underwater sonar and
military radar have been applied to improve resolution and hence extend
the range of environments in which sonar operates (chapter 4). Surface
modelling, especially the incorporation of rough surface models, has led to
better mapping and application in texture recognition (chapter 5). Drawing
on analogies from biology, bio-sonar has improved efficiency through sensor
placement and small sensor arrays (chapter 6). Finally the application of
new processing techniques, especially morphological filtering, has led to the
possibility of curve fitting, to produce information which is geometrically
similar to our own perception of the world (chapter 7).
The problem with sonar is power; the maximum range is limited to
around 10m or less (normally closer to 5m). Milimetre wave radar has
many similar characteristics but will see over ranges huge by robot stan-
dards - over several kilometres depending on weather conditions. For this
reason it is of great interest in the field, and the increasing use by the auto-
mobile industry (for automatic charging for example) means that the cost
is falling, although it is still an expensive technology. Chapter 8 describes
the capabilities of radar with a summary of some recent work in robotics.
Part III describes sensing at optical wavelengths. Optoelectronic sensors
probe the environment using a laser or focussed light emitting diode. At
their best, they provide data of high quality which is easy to interpret in
terms of standard geometry. However difficulties arise from strong ambient
light levels as the active light source can be swamped. A further difficulty
in actually realising these systems in the laboratory is the need to scan
over one or two dimensions. Unlike scanned sonar, which is compact and
light, a scanning optoelectronic sensor imposes power and weight demands
which place restrictions on its speed and reactivity. Because of this most
applications in local planning gather only two dimensional data (often range
versus orientation). Some of these issues are discussed in chapter 9, which
also describes some common optical methods to measure range. Chapter

Vlll Preface
10 describes in detail a sensor based on a technology which has been of
particular importance in robotics, amplitude modulated continuous wave
(AMCW) operation, often known as lidar. The following chapter (chapter
11) describes the extraction of lines and curves from this and other types of
optical range sensor. Chapter 12 describes active vision, in a system which
allows the camera to select features of interest and to maintain these in
the centre of its field of view through a multi-degree of freedom head. It
is impossible to do justice to such an important subject in a book of this
scope and it is hoped that this chapter, besides describing a state of the art
system for mapping and localisation, will encourage the reader to pursue
more specialised texts.
The final part of ths book, Part IV, considers some general issues in
sensor management. Chapter 13 describes a system which is showing real
benefits for processing visual and infra red data. In addition it introduces
the more abstract areas of adaptive sensor and knowledge representation.
The ultimate goal of autonomy remains elusive, but there are many
examples of systems influenced strongly by robotics research. Bumper
mounted sonar has been introduced as a parking aid in cars; radar is com-
mon not just for speed detection but for automatic charging. Surveillance
systems draw on active vision to process and abstract information. The
multi-agent paradigms used for routing in Internet access have their coun-
terparts in behavioural robotics. The demand for indoor localisation has
expanded into areas such as environmental monitoring as a response to the
availability of GPS outdoors.
The developments described in this book are relevant to all those who
are looking for new and improved ways to handle task orientated informa-
tion from sensors. It is directed at a final year undergraduate or first year
postgraduate level, as well as being of use as a source of ideas to researchers
and interested practitioners. Inevitably it has only been able to cover some
of the work going on in the field. However I have enjoyed the opportunity to
put this book together and I hope that the reader will capture some of the
excitement of our research and will use the bibliography as a springboard
for their own further investigations.
Penelope Probert Smith
University of Oxford

Acknowledgements
My interest in robotics started when I joined Oxford thirteen years ago and
I am grateful to all those who introduced me to the area, especially to Mike
Brady. My greatest thanks however must go to those who have contributed
to this book, both as authors and less publicly.
Foremost amongst the latter is David Witt, who offered me the use
of his CTFM sonar sensor several years ago and inspired my interest in
advanced sonar. I have benefited too from work by Gordon Kao, Zafiris
Politis, Paul Gilkerson and Konstantinos Zografos. Others (some of whom
are represented as authors) have sustained and excited my interest over the
years, especially Huosheng Hu whose hardware and systems expertise made
sure that we were never short of real data and situations to challenge us.
My thanks to those who have contributed to the overall publication
effort, especially David Lindgren who has proved an invaluable source of
knowledge on linux.
Last, but not least, my thanks go to my family for putting up with
sometimes erratic hours and domestic arrangements!

Contents
Preface v
Chapter 1 Introduction 3
1.1 Architectures for Planning and Perception 3
1.2 Range Sensing Technologies 8
1.3 Planning Demands 9
Chapter 2 The Mapping and Localisation Problem 13
2.1 Simultaneous Localisation and Map Building 13
2.1.1 The Map-Building Process 14
2.1.2 The Coupling of Map Estimates 15
2.1.3 Simultaneous Localisation and Map-Building with the
EKF 17
Chapter 3 Perception at Millimetre Wavelengths 21
3.1 Sensor Operation 22
3.2 The Sensor 24
3.3 Antenna Properties 25
3.3.1 The Circular Antenna 26
3.4 Altering Aperture Shape 29
3.4.1 Antenna Arrays 32
3.4.2 Focused Transducers 33
3.5 Target Properties 33
3.5.1 Smooth Surfaces: The Specular Model 34
3.5.2 Rough Surfaces 35
xi

xii Contents
3.5.3 Scattering Cross Section 36
3.6 Attenuation in the Transmission Medium 37
3.6.1 Beam Spreading 38
3.6.2 Losses 38
3.7 Summary 39
Chapter 4 Advanced Sonar: Principles of Operation and
Interpretation 41
4.1 Single Return Sonar 41
4.1.1 Mapping and Navigation Using Single Return Sonar . . 44
4.1.1.1 Occupancy Grid Representation 44
4.1.2 Landmark Based Mapping 46
4.1.3 The Geometric Target Primitives 47
4.2 Advanced Sonar: The Sonar Signature 47
4.2.1 Range Signature 48
4.2.2 Orientation Signature 50
4.2.3 Rough Surfaces 51
4.3 Acquiring the Sonar Signature 51
4.3.1 Single Frequency Sonar 52
4.3.1.1 Improving Range Accuracy: The Correlation
Receiver 52
4.3.2 Pulse Compression Sonar 54
4.3.3 Continuous Wave Frequency Modulated Sonar 56
4.3.4 Doppler Effects 60
4.4 Summary 60
Chapter 5 Smooth and Rough Target Modelling:
Examples in Mapping and Texture Classification 61
5.1 Power Received by the Transducer 61
5.2 Smooth Surface Model 62
5.2.1 Backscattering Coefficient 62
5.2.2 The Target Geometry Coefficient 63
5.2.3 Mapping Experiments 63
5.2.3.1 Finding the Position of Each Feature 64
5.2.3.2 Finding Geometric Type 65
5.2.3.3 Data Integration 65
5.3 Rough Surface Planar Models 68
5.3.1 Backscattering Coefficient of Rough Surface 69

Contents xiii
5.3.1.1 Finding Position of Rough Surfaces 70
5.4 Mapping Heterogeneous Environments 72
5.5 Texture: Classifying Surfaces 72
5.5.1 Reflections from Real Surfaces 73
5.5.2 Pathways Classification 75
5.5.3' Finding Suitable Features 76
5.5.4 Remarks 77
5.6 Summary 77
Chapter 6 Sonar Systems: A Biological Perspective 79
6.1 Introduction 79
6.2 Echo Formation 81
6.2.1 Transformations 82
6.2.2 Reflection 84
6.2.2.1 Reflections from a Planar Reflector 84
6.2.2.2 Reflections from a Corner 85
6.2.2.3 Reflections from an Edge 86
6.3 Monaural Sensing 86
6.3.1 Inverting the Echo Formation Process 87
6.3.2 Extraction of Information: Cochlear Processing 87
6.4 Multi-Aural Sensing 88
6.4.1 Echo Amplitude and Echo Arrival Time: Two transmit-
ters, Two receivers 89
6.4.1.1 Sensor Setup 89
6.4.1.2 Localisation of Planes and Corners 90
6.4.1.3 Recognition of Planes and Corners 91
6.4.2 Echo Arrival Time Information: Two Transmitters, Two
Receivers 93
6.4.2.2 Localisation of Edges and Planes/Corners . . 94
6.4.2.3 Recognition of Edges, Planes and Corners . . 95
6.4.3 Echo Arrival Time Information: One Transmitter, Three
Receivers 97
6.4.3.2 Localisation of Edges and Planes/Corners . . 98
6.4.3.3 Recognition of Edges, Planes and Corners . . 99
6.4.3.4 Localisation of Curved Reflectors 101

xiv Contents
6.4.4 One Transmitter, Two Receivers: 3 Dimensional World
Model 103
6.4.4.2 Localisation of a Point-Like Reflector in 3D . 105
6.5 Summary 109
Chapter 7 Map Building from Range Data Using
Mathematical Morphology 111
7.1 Introduction I l l
7.2 Basics of Sonar Sensing 114
7.3 Processing of the Sonar Data 115
7.3.1 Morphological Processing 117
7.3.2 Curve Fitting 119
7.3.3 Simulation Results 121
7.3.3.1 Linear Arrays 121
7.3.3.2 Circular Arrays 122
7.3.3.3 Arbitrarily-Distributed Sensors 122
7.4 Experimental Verification 125
7.4.1 System Description 125
7.4.2 Experimental Results 128
7.4.3 Computational Cost of the Method 133
7.5 Discussion and Conclusions 133
Chapter 8 Millimetre Wave Radar for Robotics 137
8.1 Background 137
8.2 When to Use Millimetre Wave Radar 138
8.3 Millimetre Wave Radar Principles 140
8.3.1 Range Resolution 140
8.3.2 Pulse Compression 141
8.3.3 Stepped Frequency 142
8.3.4 Frequency Modulated Continuous Wave 143
8.3.5 Angular Resolution and Antennas 146
8.3.6 Scanning and Imaging 148
8.3.6.1 Mechanical Scanning 148
8.3.6.2 Electronic Scanning 148
8.3.6.3 Image Representation 149
8.4 Review of Work Done in the Field 151
8.4.1 Indoor Applications 151

Contents x v
8.4.1.1 Technische Universitat Miinchen 151
8.4.1.2 St. Petersburg State Technical University . . 153
8.4.2 Outdoor Applications . 153
8.4.2.1 Robotics Institute: Carnegie Mellon University 153
8.4.2.2 Helsinki University of Technology 154
8.4.2.3 Australian Centre for Field Robotics: Sydney
University 154
8.5 Airborne Radar Systems 156
8.5.1 Imaging Range and Resolution 156
8.5.2 Results 158
8.6 Waypoint Navigation Process 159
8.6.1 Navigation Error Estimation 161
8.6.2 Results 161
8.7 Summary 162
Chapter 9 Optoelectronic Range Sensors 165
9.1 Introduction 165
9.2 Range-Finders 165
9.2.1 Introduction 165
9.3 Radiometric Design 166
9.3.1 Specular Reflection 168
9.3.2 Diffuse Reflection 171
9.3.3 The Emitter and Detector 172
9.3.4 Optical Geometry 174
9.4 Ranging Sensors 177
9.4.1 Triangulation 177
9.4.2 Lidar 180
9.4.2.1 Pulsed Modulation 181
9.4.2.2 Amplitude Modulation Continuous Wave . . . 182
9.4.2.3 Frequency Modulation Continuous Wave . . . 184
9.5 Scanning Range-Finders 186
9.5.1 Introduction 186
9.5.2 Scanning Methods 186
9.5.2.1 Holographic Scanners 187
9.5.2.2 Acousto-Optic Scanners 187
9.5.3 Some Scanning Sensors 188
9.5.3.1 The Sick Sensor: Pulsed Lidar 188
9.5.3.2 AMCW Lidar Sensors 188

xvi Contents
9.5.3.3 FMCW Lidar 189
9.5.4 Summary 190
Chapter 10 AMCW LIDAR Range Acquisition 193
10.2 Critical Lidar Design Factors 195
10.3 Performance Limits — Noise 197
10.4 AMCW Lidar Modules 198
10.5 Causes of, and Remedies for, Range Errors 200
10.5.1 Systematic Range Errors 200
10.5.2 Random Range Errors 204
10.5.3 Multiple Path Reflections 205
10.6 Correct Calibration Procedures 208
10.7 Possible Scanning Speed 212
10.8 3D Range/Amplitude Scanning — Results 217
10.9 Summary 219
Chapter 11 Extracting Lines and Curves from
Optoelectronic Range Data 223
11.1 The Optoelectronic Sensors 224
11.1.1 The Triangulation (LEP) Sensor 224
11.1.2 The SICK Sensor 226
11.1.3 Perceptron Laser Scanner 226
11.2 Feature Extraction and Processing 227
11.2.1 Kalman Filter for Straight Line Extraction 228
11.2.1.1 Extended Kalman Filter Equations 229
11.2.1.2 Cartesian to Polar Co-ordinates 230
11.2.2 Initialisation Phase 231
11.2.3 Recursive Implementation 231
11.2.4 Feature Segmentation 232
11.2.5 Elliptical Sections 233
11.3 Conclusions 238
11.4 Acknowledgments 238
Chapter 12 Active Vision for Mobile Robot Navigation 239
12.1 Vision for Mobile Robots 239
12.1.1 Active Vision 240
12.1.2 Navigation Using Active Vision 241

Contents xvii
12.1.3 A Robot Platform with Active Vision 242
12.2 Scene Features 244
12.2.1 Detecting Features 244
12.2.2 Searching for and Matching Features 247
12.2.3 Other Feature Types 249
12.3 Fixation 251
12.3.1 Acquiring Features 251
12.3.2 The Accuracy of Fixated Measurements 252
12.4 Localisation and Map-Building 254
12.4.1 An Extended Experiment 254
12.5 Continuous Feature Tracking 259
12.6 A Fixation Strategy for Localisation 261
12.6.1 Choosing from Known Features 262
12.6.2 Experiments 263
12.7 Steering Control and Context-Based Navigation 266
12.7.1 Steering a Twisting Course 266
12.8 Summary 269
Chapter 13 Strategies for Active Sensor Management 271
13.2 Simple Signal Processing Tools 275
13.3 Reconfigurable Sensors and Signal Processing Tools 278
13.4 A Sensor-Centred Image Segmentation Algorithm 282
13.5 Signal Processing Tool Selection Strategies 284
13.6 Dynamic Signal Processing Tool Scheduling 287
13.7 Conclusions 289
Bibliography 291
Appendix A: Contact Details of Authors 307
Index 311

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óo ó yes 26(2). 44(18).
oóhan be answered affirmatively 254(7).
napaóo assented 312(6).
uwalàʾ, see walàʾ.
uwèʾ a going home; that taken home 114(26). 221(35).
umuwèʾ go home 34(12). 76(43). went home 50(36). 52(35).
úuwèʾ will go home 287(20).
nagsísiuwèʾ are going home 72(35).
paguwèʾ a going home 70(23).
naguwían went home together 26(37).
pauwèʾ that caused to go home 298(23). homeward 34(14).
nagpauwèʾ caused to be taken home, sent home 304(9).
ipinauwèʾ was caused to be taken home, was sent home 304(10).
W.
walàʾ without, not having; there is not 16(10). 20(21). 69. 99. 110. 239. 248.
walà ŋ hiyàʾ: kawalà-ŋ-hiyaàn shamelessness 277(10).
nápakawalà-ŋ-hiyàʾ most impudent 98(27).
pagwawalàʾ a breaking away 232(42).
iwalàʾ be got rid of 249(3).
kawalàʾ partaking of freedom 196(27).

magkawalàʾ get away 44(6).
nagkawalàʾ got away 44(10).
nagkákawalàʾ is getting away 58(31).
ikinawalàʾ was the cause of being without 292(6).
ipagkawalàʾ be the cause of getting away 272(38).
ipagkákawalàʾ will be the cause of getting away 272(41).
ipinagkawalàʾ was the cause of getting away 273(1).
ipinagkákawalàʾ is the cause of getting away 273(2).
kawàwalàn will be the place of losing 206(17).
kawalàn lack, absence 46(16). 118(1).
makawalàʾ be able to get away 44(40).
makawáwalàʾ will be able to get away 294(1).
nakawalàʾ succeeded in getting away 46(31). 86(12).
mawáwalàʾ will disappear 46(2).
nawalàʾ disappeared 64(33). 82(10).
nawáwalàʾ is disappearing 40(16). 76(13).
pagkawalàʾ a disappearing 298(17).
nawalàn has been deprived of 70(8). 82(30).
pawalàn be allowed to get away 44(12).
pinawalàn was allowed to get away 44(8).
magpakawalàʾ get oneself away 106(23).
pinakawalàn was allowed to get loose 66(28). 310(26).
walìs broom 315(22).
nagwáwalìs is sweeping 233(2).
wináwalìs niwáwalìs is being swept away 245(26).
niwalisàn was swept 94(7).
niwàwalisàn is being swept 254(8).
walò eight 52(43). 67.
paŋwalò number eight 225(38).
wapélo C. exclamation of distress 58(38).
wíkaʾ language, word, words 20(5). 28(3). 74(39).
nagwíkaʾ spoke 20(20).
winíkaʾ was spoken 18(42).

kawikaàn proverb 276(15).
pagkawíkaʾ a having spoken 20(40).
-wíli: nàwíli got spellbound 88(2).
pagkàwíli a getting spellbound 295(26).
-wisìk: iniwisìk was sprinkled 96(27).
niwisikàn was sprinkled on 64(30).
nàwisikàn got sprinkled on 76(38).
Y.
-yábaŋ: kayabáŋan pride 272(2) Corrigenda.
mayábaŋ proud 60(15).
nagmayabàŋ boasted 238(21).
ipinagmayabàŋ was boasted of 60(17).
nagpakamayabàŋ boasted of himself 309(29).
-yáboŋ: mayáboŋ grassy 18(33).
yáman wealth 72(22). 80(25).
yumáman get rich 60(25). got rich 74(9).
pagyáman a getting rich 120(27).
kayamánan wealth 308(16).
mayáman wealthy 72(19).
payamánin be caused to get rich 50(34).
yámaŋ while 16(12). 18(33). 309.
yàn, see iyàn.
yantòk rattan 46(40).
Yap C. n. 234(25).

-yári: maŋyári happen 54(29). 66(22).
maŋyàyári will happen 18(11). 52(20).
naŋyári happened 24(27). 46(19).
naŋyàyári happens 40(30). 44(20).
kapaŋyaríhan power 36(10). 40(4).
yáriʾ that made; the make 74(4). 220(10). 221(37).
mayáriʾ have been made 104(11).
nayàyáriʾ is made 34(36). 46(40).
yaòn, see iyòn.
-yáyaʾ: yumáyaʾ invited 230(21).
pagyáyaʾ an inviting 230(22).
nagyayàʾ urged 28(11). 34(12).
niyáyaʾ was invited, summoned 32(13). 36(42).
Yèŋ C. n. 263(4).
yéro S. iron 92(35).
yitò ytò, see itò.—yò, see iyò.
-yukayòk: nagsísipagyukayòk are nodding 108(30).
yòn, see iyòn.
Yurúpa, see Eyurúpa.
yútaʾ billion 134.
yoòn, see iyòn.

1 Where S. words are, as genuine loan-words, more or less fully Tagalized, the S. is enclosed in brackets. In cases
where Mr. Santiago is not conscious of this origin, it would have been more consistent to omit the indication, but it would
be very difficult to single these out. ↑

CORRIGENDA.
The following errors are due entirely to oversights on my part; they would
have been far more numerous, but for the accuracy and intelligence of the
typesetter, Mr. Staley, and the unfailing kindness of the editor, Professor W.
A. Oldfather.—L. B.
The indicated errors have been corrected in the text of this edition,
except for the one referring to 212(25), as the instruction is not clear
enough, and 322(42), as the location could not be found.
VOLUME I.
PAGE LINE FOR READ
20 16 mákinig makinìg
22 2 nabuksan nábuksan
24 31 n ŋ
32 1 namámatay mamámatay
38 11 galían galiàn
40 39 pagbibíroʾ paŋbibíroʾ
42 6 katimbàʾ katimbàŋ
42 39 tiniŋnan tinaŋnan
44 2 sumagòt sumásagòt
44 40 nagsisigáw nagsisigàw
46 24 ŋà ŋá
48 20 pagbabalìk pagpapabalìk
60 38 nagbibigay nagbíbigay
62 5 syà nyà

68 13 siniglan siniglàn
72 12 hyà hyàʾ
74 40 a o
84 21 pinagdagukàn pinagdadagukàn
92 6 mámatày mamámatày
94 29 inapúyan inapuyàn
96 29 maínit maiínit
98 2 magbíbinyàg nagbíbinyàg
98 39 Masakìp Masikìp
99 25 giving given
100 15 ipabíbilanŋgòʾ ipabíbilaŋgòʾ
108 42 pirásu ŋ lamàn pirásu-ŋ-lamàn
114 10 pagtadtàd pagtatadtàd
Volume II.
PAGE LINE
190 2 Add: si nasíra ŋ Mariyà the deceased Maria.
210 30 Add example: pilìk-matà eyelash (pilìk fin, lash), and at
211(13) omit pilìk.
212 25 Omit: bagáso etc.; the word may be S. bagazo sediment.
212 37 Add: hantày hintày.
215 41 Omit: lákad.
223 17 The example of lakàd should be transferred to 222(38).
223 25 Binyàk etc.; transfer to 244(7).
244 2 Add: (aŋ áyap condiment).
244 4 Add example: Aŋ gúlok na yàn ay bàbawíin ko sa iyò, kapag
ipinamútol mo naŋ kawáyan. I shall take back this bolo from
you, if you use it for cutting bamboo.
244 7 See on 223(25).
245 39 Add: sagòt.
249 8 Add: lalàʾ.

259 35 Add example: aŋ tìpúnan a meeting; and omit típon in next
line.
261 10 Add example: Aŋ asuhàn naŋ báhay ni Pédro ay nasúnog. The
chimney in Pedro’s house burned out; and omit asò from line
16.
261 24 Add example: luluràn shin.
267 18 Add: So gísiŋ, káin.
277 2 Add example: kayabáŋan pride; and omit yábaŋ, line 8.
277 7 Add: salúkoy.
286 30 Add example: Pagkaabòt naŋ bátà naŋ kanyà ŋ laruwàn ay
tumakbò sya ŋ agàd. After reaching for his toys, the boy at
once ran. Omit the words: see ábot.
294 33 Omit: ibadyà.
295 30 Add example: Sya y nárapàʾ. He fell on his face.
296 19 Omit: ábot, and add example: Aŋ pagkáabot nyà sa bóte ay
hindi magálaŋ. The way he reached for the bottle was not
polite.
297 29 Add: badiyà.
299 27 For pahágis read pahagìs, and transfer the example to
300(14).
300 14 See preceding.
313 3 Add: With makà- D (§ 473) from -paríto: Hwag kà ŋ
makàparí-paríto. Don’t you ever come round here!
315 31 Add: With accent-shift: taginìt the hot season.
322 42 Add reference: 28(7).

Table of Contents
Table of Contents 7
PREFACE 9
LIST OF BOOKS AND ARTICLES CONSULTED 13
I. TEXTS IN PHONETIC TRANSCRIPTION 16
1. Aŋ ulòl na uŋgòʾ at aŋ marúnoŋ na pagòŋ. 16
2. Aŋ pagtatakbúhan naŋ usà at naŋ susòʾ. 18
3. Isà ŋ Biyàrnes-Sànto. 20
4. Aŋ kúbaʾ at aŋ bulàg. 22
5. Aŋ hári ŋ may súŋay at si Hwàn. 24
6. Tatlò ŋ estudyànte. 26
7. Isa ŋ sundálu ŋ marúnuŋ naŋ Latìn. 28
8. Aŋ pitù ŋ dwènde. 30
9. Isà ŋ pulìs na nagaswàŋ-aswáŋan. 34
10. Isà ŋ aswàŋ na nápatày. 38
11. Aŋ maŋkukúlam. 40
12. Aŋ laro ŋ sípaʾ sa Filipínas. 46
13. Aŋ kúra ŋ si Patúpat. 50
14. Si Maryáno at aŋ pári ŋ si Patúpat. 54
15. Aŋ Intsìk na màŋaŋátam. 56
16. Isa ŋ táo ŋ may birtùd naŋ usà. 60
17. Aŋ alíla ŋ uŋgòʾ. 62
18. Aŋ matandá sa punsò sa liwánag naŋ áraw. 66
19. Aŋ tiyának ni Hwàn. 68

20. Si Hwà ŋ maŋlilígaw. 70
21. Si Mariyà ŋ marámot. 72
22. Tatlò ŋ káluluwa ŋ tumáwag kay Sam-Pédro. 78
23. Si Hwà ŋ baŋkéro. 80
24. Aŋ kabàítan sa maŋa háyop. 82
25. Si Hwà ŋ maŋdudúkit. 86
26. Si Markíta. 92
27. Aŋ maŋmàŋ na páreʾ. 94
28. Aŋ pàkumpisálan. 96
29. Si Hwà ŋ bíbas. 98
30. Tatlò ŋ magkakaybíga ŋ magnanákaw. 100
31. Aŋ paŋhuhúli naŋ maŋa uŋgòʾ. 106
32. Aŋ fiyèsta ni Saŋ-Hwàn. 110
33. Aŋ maŋa paŋiŋílin naŋ maŋa kamagának naŋ isa ŋ namatày. 112
34. Aŋ takbúhan sa Amerikáno. 116
II. GRAMMATICAL ANALYSIS. 133
A. PHONETICS. 134
1. Distinctive sounds. 134
2. Syllabication. 138
a. In the word. 138
b. In word-formation. 139
c. In the phrase. 140
3. Accentuation. 141
a. Word-accent. 141
b. Sentence-accent. 143
B. SYNTAX. 146
1. Sentence and word. 146
a. Syntactic relations. 146
b. Parts of speech. 146
c. Static and transient words. 147

d. Personal names. 147
e. The object construction. 148
f. Expressions of indefinite quantity. 150
2. Subject and predicate. 151
a. Non-predicative sentences. 151
b. The subject. 153
c. The predicate. 153
1. Transient predicate. 153
2. Static predicate. 155
3. Object expression as predicate. 157
d. Subordinate predications. 159
e. Omission of predicate. 160
3. Attributes. 160
a. Conjunctive attributes. 162
1. Conjunctive attributes of quality. 162
2. Conjunctive attributes of manner. 165
3. Conjunctive attributes as complements. 167
b. Disjunctive attributes. 170
c. Local attributes. 177
d. Absolute attributes. 180
1. enclitic particles. 181
2. prepositive particles. 185
3. words used as absolute attributes of manner and
time.
190
4. absolute complements. 194
5. words used with disjunctive and local attributes. 197
6. words introducing subordinate phrases or
predications.
200
4. Serial groups. 205
1. coordinating particles. 205
2. paratactic sentences. 207

3. parenthesis. 208
4. anacolouthon. 208
C. MORPHOLOGY. 210
1. Composition. 210
2. General features of word-formation. 211
3. Description of formations. 218
I. Primary groups (zero, pag-, paŋ-). 218
A. Simple static forms. 218
1. Root-words. 218
2. Doubling. 223
3. Reduplication. 224
4. paŋ-. 224
B. Transients, abstracts, and special static words. 226
1. Active with -um- and abstract with pag-. 226
2. Active with mag- and abstract with pag-r. 231
3. Active with maŋ- and abstract with paŋ- r. 239
4. Special static words. 241
5. Direct passive. 243
7. Instrumental passive. 247
9. Local passive. 250
II. Secondary groups. 262
1. Prefix si-. 262
2. The prefix paki-. 263
3. The prefix ka-. 265
1. Simple static forms. 265
2. Normal transients, abstracts, and special
static forms.
268

3. Additional transients, abstracts, and special
static forms.
280
4. The prefix pa-. 298
1. Simple static forms. 299
2. Normal transients, abstracts, and special
static words.
301
3. Transients and abstracts with pa- and ka-. 309
5. The prefix pati-. 313
III. Irregular Derivatives. 314
1. Transients and abstracts of the particles sa and -
giŋ.
314
2. Odd affixes. 314
3. Pronoun forms. 316
III. LIST OF FORMATIONS. 325
A. Forms without prefix. 325
B. Forms with prefix. 325
INDEX OF WORDS. 328
CORRIGENDA. 414

Colophon
Availability
This eBook is for the use of anyone anywhere at no cost and with
almost no restrictions whatsoever. You may copy it, give it away or
re-use it under the terms of the Project Gutenberg License included
with this eBook or online at www.gutenberg.org .
This eBook is produced by the Online Distributed Proofreading Team
at www.pgdp.net .
Scans for this book are available from the Internet Archive (copy
1 ); and from Google Books (copy 1 ).
Related Library of Congress catalog page: 18027096 .
Related Open Library catalog page (for source): OL6613171M .
Related Open Library catalog page (for work): OL1106944W .
Related WorldCat catalog page: 2802976 .
Encoding
This book uses Tagalog in phonetic transcription, which does not
match current orthography. Accent usage is kept as in the original,
even where it may appear inconsistent, as are inconsistencies in the
use of the letters i and e, as well as o and u. These may very well
indicate differences in pronunciation as spoken or perceived by the
author. As in the source, the particle ŋ is written separately, omitting
a final ʾ or n from the previous word.

The line-breaks in this digital edition have been replaced by anchors,
which are used to link cross-reference to; but no attempt has been
made to preserve the original line-breaks otherwise.
Obvious typographical errors have been fixed and documented in the
colophon; the blunder caribou (reindeer) has been replaced by
carabao (Philippine water buffalo) throughout the text; end-of-line
hyphenation has been silently removed.
The errors indicated in the Corrigenda have been fixed in the text.
The Tagalog texts and English translations, originally on facing pages,
have been aligned side-by-side on the paragraph level.
The three parts of the original work have been consolidated into a
single book with a single table of contents. The title-pages for each
part have been omitted.
Revision History
2015-10-28 Started.
External References
This Project Gutenberg eBook contains external references. These
links may not work for you.
Corrections
The following corrections have been applied to the text:
Page Source Correction
13 Nederlandsch-Indie Nederlandsch-Indië
13 Metodo Método
14 Sanscrito Sánscrito
14, 170,
267, 272,
[Not in source] ,

329, 331,
348, 386,
393
20 mákinig makinìg
22 nabuksan nábuksan
24, 147 n ŋ
24 ito itò
32 namámatay mamámatay
38 kaugalían kaugaliàn
40 makipagkaybígan makipagkayibígan
40 pagbibíroʾ paŋbibíroʾ
42 katimbàʾ katimbàŋ
42 kápit—báhay kápit-báhay
42 tiniŋnan tinaŋnan
44 sumagòt sumásagòt
44 nagsisigáw nagsisigàw
46 ŋà ŋá
48 pagbabalìk pagpapabalìk
60 nagbibigay nagbíbigay
62 syà nyà
68 siniglan siniglàn
72 hyà hyàʾ
74 a o
84 pinagdagukàn pinagdadagukàn
92 mámatày mamámatày
94 inapúyan inapuyàn
96 maínit maiínit
98 magbíbinyàg nagbíbinyàg
98 Masakìp Masikìp
100 ipabíbilanŋgòʾ ipabíbilaŋgòʾ
108 pirásu ŋ lamàn pirásu-ŋ-lamàn

114 pagtadtàd pagtatadtàd
17 ” [Deleted]
59 humilating humiliating
65 dilligent diligent
67 , .
71, 71,
71, 71,
71, 73,
73, 81,
101, 101,
119, 119,
223, 230,
253, 255,
269, 282,
303, 306,
311, 311,
311, 311,
312, 355,
363, 363 caribou carabao
99 giving given
133 [Not in source] II.
135, 144,
144, 144,
151, 163,
203 . ,
139 celebation celebration
143 nawà,ʾ nawàʾ
146, 394 ) [Deleted]
151 s :
152, 163,
359, 407 . [Deleted]
155, 156,
230, 235,
[Not in source] .

235, 246,
263, 263,
331, 333,
345, 345,
356, 357,
358, 359,
360, 362,
364, 367,
367, 369,
369, 369,
369, 369,
383, 392,
392, 397,
397, 403,
409
157 appy apply
168 An Aŋ
172, 173,
258 an aŋ
174 libro librò
176 a [Deleted]
190
[Not in source]
, si nasíra ŋ Mariyà
the deceased Maria
192 nakáraan nakáraàn
198 especiall especially
208 : ;
210
[Not in source]
pilìk-matà eyelash
(pilìk fin, lash);
211 pilìk, [Deleted]
212 [Not in source] ; hantày, hintày
215 reduplcated reduplicated
215, 224 [Not in source] (
215 lákad, [Deleted]

216 forma-mations formations
217 aspect aspect aspect
220 relieves relieved
220 ; .
222
[Not in source]
Lakàd kamì ŋ
umwèʾ. We went
home on foot.
223 Lakàd kamì ŋ
umwèʾ. We went
home on foot. [Deleted]
223 Binyàk ni Hwàn aŋ
kawáyan. Juan has
split the bamboo. [Deleted]
227, 254 you your
237 thigns things
239, 263 canoing canoeing
240 Rounabout Roundabout
242 [Not in source] thief
244
[Not in source]
(aŋ áyap
condiment).
244
[Not in source]
Aŋ gúlok na yàn ay
bàbawíin ko sa iyò,
kapag ipinamútol
mo naŋ kawáyan. I
shall take back this
bolo from you, if
you use it for
cutting bamboo.
244
[Not in source]
Binyàk ni Hwàn aŋ
kawáyan. Juan has
split the bamboo.
244 felt fell
245 [Not in source] sagòt,

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