What are the means by which emancipation (itq) of a slave can be achieved?

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Emancipation is achieved through explicit verbal declaration, by acquiring full legal ownership (milk), and through 'Istilaad' (a slave giving birth to the owner's child). A mere intention without any accompanying act or utterance does not effect emancipation, because emancipation constitutes the removal of ownership, which, like all acts of removal, requires more than mere intention.