cometadata/datacite-titles-descriptions-related-identifiers huggingface dataset:
DOI: 10.5281/zenodo.15274730
title: Synthetic Dataset Generation for 3D SLAM Evaluation

description: Rosbags recorded from a simulation environment, containing data from a simulated Velodyne(VLP16), IMU, camera RGB, wheel odometry and robot's real position. Each sequence contains different challenges.TopIcs:



/ground_truth/odom: topic that publishes robot's real pose in odometry message format.

/scan: topic that publishes the 3D Lidar Point Cloud.

/clock: topic that publishes simulation time, for synchronization.

/odom: topic that publishes wheel Odometry.

/imu/data:  topic that publishes the full raw IMU information including orientation (as a quaternion), angular velocity, and linear acceleration, which is essential for SLAM and sensor fusion.

/imu/rpy: topic that publishes the same orientation but converted to roll, pitch, and yaw angles.

/camera/compressed: topic that publishes the compressed images from robot's RGB camera.

/tf: topic that publishes the tf tree. 


Sequences:



Static: this sequence uses the map without additional challenges to seve as the baseline result for comparisson. 



Time:  706 seconds;

Distance Traveled: 530 meters;

laps: 2 



Dynamic: this sequence introduces moving people within the environment to simulate real-world, dynamic conditions. This setup evaluates the SLAM algorithm's robustness to non-static obstacles and tracking consistency in the presence of human motion.



Time: 765 seconds; 

Distance Traveled: 567 meters; 

laps: 2



Ramp 15°: this sequence features a scenario where the robot ascend and descend a 15-degree inclined surface. This sequence introduces significant non-planar motion characterized by vertical displacement and pitch rotation, posing a challenge for algorithms not optimized for elevation changes. 



Time: 713 seconds; 

Distance Traveled: 540 meters; 

laps: 2



The Symmetric Corridor sequence includes structural modifications to the environment, specifically the addition of two symmetric walls along the central corridor. This creates a visually and structurally repetitive scene with low-feature variance, which tests the SLAM system's ability to resolve feature ambiguity and maintain accurate localization. The sequence duration is 316 seconds, with a distance of 237 meters over two laps.



Time: 316 seconds; 

Distance Traveled: 237 meters; 

laps: 2



Ramp 30°: this sequence presents a more difficult incline than the 15° scenario. The robot attempts to ascend a 30-degree slope but fails, inducing wheel slippage. This environment is particularly challenging for odometry-dependent SLAM methods that rely on traction for accurate motion estimation. 



Time: 802 seconds; 

Distance Traveled: 583 meters; 

laps: 2



Slippery Zone: this sequence introduces a low-friction surface designed to deliberately cause wheel slippage. This environment challenges SLAM algorithms that depend heavily on wheel odometry. The sequence duration is 789 seconds, and the robot travels 589 meters.



Time: 789 seconds; 

Distance Traveled: 589 meters; 

laps: 2
DOI: 10.15468/dl.6qwkbt
title: Occurrence Download

description: A dataset containing 37924605 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Geometry POLYGON ((-73.9830625 -33.8694284, -28.6289646 -33.8694284, -28.6289646 5.2695808, -73.9830625 5.2695808, -73.9830625 -33.8694284))",
 "EventDate is greater than or equal to 2015-01-01",
 "EventDate is less than or equal to 2025-01-01"
 ]
}

 The dataset includes 37924605 records from 2441 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0019702-250426092105405/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.5281/zenodo.10061229
title: Nucleation patterns of polymer crystals analyzed by machine learning models

description: This contains the raw data (01_raw_data), processed data (02_processed_data), and plotting scripts (03_figures) related to the paper:  "Nucleation patterns of polymer crystals analyzed by machine learning models"Atmika Bhardwaj, Jens-Uwe Sommer, Marco Werner
Please refer to the README.md files in their respective folders.
DOI: 10.5281/zenodo.11396338
title: Nucleation patterns of polymer crystals analyzed by machine learning models

description: This dataset contains the raw data (01_raw_data), processed data (02_processed_data), and plotting scripts (03_figures) related to the paper:

"Nucleation patterns of polymer crystals analyzed by machine learning models"Atmika Bhardwaj, Jens-Uwe Sommer, Marco Werner

Macromolecules 2024; DOI: 10.1021/acs.macromol.4c00920

Please refer to the README.md files in their respective folders.
DOI: 10.5281/zenodo.15328089
title: Dataset Nucleation Patterns of Polymer Crystals Analyzed by Machine Learning Models

description: This dataset contains the raw data (01_raw_data), processed data (02_processed_data), and plotting scripts (03_figures) related to the paper:

"Nucleation Patterns of Polymer Crystals Analyzed by Machine Learning Models"Atmika Bhardwaj, Jens-Uwe Sommer, Marco Werner

Macromolecules 2024; DOI: 10.1021/acs.macromol.4c00920

Please refer to the README.md files in their respective folders.
DOI: 10.5281/zenodo.8383061
title: Dataset Nucleation Patterns of Polymer Crystals Analyzed by Machine Learning Models

description: This dataset contains the raw data (01_raw_data), processed data (02_processed_data), and plotting scripts (03_figures) related to the paper:

"Nucleation Patterns of Polymer Crystals Analyzed by Machine Learning Models"Atmika Bhardwaj, Jens-Uwe Sommer, Marco Werner

Macromolecules 2024; DOI: 10.1021/acs.macromol.4c00920

Please refer to the README.md files in their respective folders.
DOI: 10.5281/zenodo.8383062
title: Nucleation patterns of polymer crystals analyzed by machine learning models

description: This contains the raw data (01_raw_data), the processed data (02_processed_data), and the plotting scripts (03_figures) related to the paper:  "Nucleation patterns of polymer crystals analyzed by machine learning models"Atmika Bhardwaj, Jens-Uwe Sommer, Marco Werner
Please refer to the README.md files in their respective folders.
DOI: 10.57967/hf/6679
title: scientific-paragraphs-categorization
DOI: 10.7910/dvn/jfezxc
title: Replication Data for: The Impact of Consolidation on Credit Supply and Performance (RFS MS20220391)

description: This folder includes all the codes and simulated datasets to replicate all the results of the paper.
DOI: 10.15468/dl.zr8tk5
title: Occurrence Download

description: A dataset containing 10 species occurrences available in GBIF matching the query:
{
 "and" : [
 {
 "and" : [
 "HasGeospatialIssue is false",
 "HasCoordinate is true",
 "OccurrenceStatus is Present",
 {
 "not" : {
 "BasisOfRecord" : [
 "is one of (Fossil, Living Specimen)"
 ]
 }
 }
 ]
 },
 "TaxonKey is Megophrys auralensis Ohler, Swan & Daltry, 2002"
 ]
}

 The dataset includes 10 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0026648-240229165702484/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.43hdyh
title: Occurrence Download

description: A dataset containing 230959392 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Geometry POLYGON ((-173.671875 36.59788913307022, -173.671875 84.26717240431665, -41.484375 84.26717240431665, -41.484375 36.59788913307022, -173.671875 36.59788913307022))",
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 230959392 records from 1315 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0004373-171002173027117/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.juzurd
title: Occurrence Download

description: A dataset containing 106 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Aspidopterys tomentosa (Blume) A.Juss."
 ]
}

 The dataset includes 106 records from 12 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0026651-240229165702484/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.kmokud
title: Occurrence Download

description: A dataset containing 1238778019 species occurrences available in GBIF matching the query:
{
 "and" : [
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 1238778019 records from 14937 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0000373-170817152713382/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.5281/zenodo.15266325
title: Dataset for manuscript "Analysis of Sperm Beating Characteristics Using Microfluidic Trapping and Machine-Learning-Based Flagellum Tracking "

description: These are the excel sheets summarizing the analysis of hundreds of high speed videos of sperm cells beating under different physical and chemical conditions. 

The testing conditions are:



Caffeine concentrations of 0, 10, 20 and 40 mM.

Heparin concentrations of 0, 10, 50 and 100 ug/ml

Flow vleocities of 0 and 100 um/s


Some sample videos are shown for demonstration purposes. The original videos are too large to upload to Zenodo. They can be requested from the corresponding author (Dr. Mohamed Abdelgawad) at the following email address: m.abdelgawad@aun.edu.eg
DOI: 10.5281/zenodo.15266326
title: Dataset for manuscript "Analysis of Sperm Beating Characteristics Using Microfluidic Trapping and Machine-Learning-Based Flagellum Tracking "

description: These are the excel sheets summarizing the analysis of hundreds of high speed videos of sperm cells beating under different physical and chemical conditions. 

The testing conditions are:



Caffeine concentrations of 0, 10, 20 and 40 mM.

Heparin concentrations of 0, 10, 50 and 100 ug/ml

Flow vleocities of 0 and 100 um/s


Some sample videos are shown for demonstration purposes. The original videos are too large to upload to Zenodo. They can be requested from the corresponding author (Dr. Mohamed Abdelgawad) at the following email address: m.abdelgawad@aun.edu.eg
DOI: 10.3535/876-mvc-1pl
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/w1a-p47-a5f
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/ps4-b01-bgc
title: Muntiacus muntjak (Zimmermann, 1780)

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/rsw-n7k-rxd
title: Bovidae Gray, 1821

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/xdh-gsb-mpn
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/8ww-47c-2gc
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/tyx-77p-gzr
title: Hystrix Linnaeus, 1758

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/3ew-g1z-yba
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/172-fq1-w2g
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/bd9-w1y-07p
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/m4h-c5x-t4g
title: Animalia

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/ms8-7f7-48g
title: Sus Linnaeus, 1758

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/3vq-z8q-aq5
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/5nh-qzq-2ps
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/hws-vdj-yha
title: Magnoliopsida

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/a7c-zdc-ntt
title: Bovidae Gray, 1821

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/mtb-d5a-rt1
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/6qw-9yb-k3t
title: Lepidophyllum Cass.

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/kf0-1cw-ft7
title: Animalia

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/04l-z2h-zr6
title: Soulamea Lam.

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/lrw-fj6-5z5
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/5xp-c9l-a16
title: Voacanga Thouars

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/b3w-46r-yw8
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/n51-p9h-gc2
title: Hystrix Linnaeus, 1758

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/nky-p3r-9d2
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/xr7-44j-hd9
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/d3y-f9q-vgq
title: Muntiacus muntjak (Zimmermann, 1780)

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/jvq-lpt-vwg
title: Orthiopteris Copel.

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/0l3-s9s-yv0
title: Sus Linnaeus, 1758

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/281-e9t-gb1
title: Animalia

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/d8z-vf7-v3c
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/rvz-bw5-azd
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/smr-v4f-m7k
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/85s-c1s-hwl
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/r3j-6sz-elc
title: Animalia

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/b9c-h63-6rr
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/y6s-xgd-a16
title: Phyllolepidum Trinajstic

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/cax-8lt-ptp
title: Bovidae Gray, 1821

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/nhq-v3s-6ts
title: Emydidae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/1jl-yp3-4w5
title: Bovidae Gray, 1821

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/kaa-ej4-ner
title: Plantae

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.3535/wqv-n1s-y6s
title: Muntiacus muntjak (Zimmermann, 1780)

description: Digital Specimen for the physical specimen hosted at Naturalis Biodiversity Center.
DOI: 10.7910/dvn/wfo1n1
title: Replication Data for: Democratic Trajectories in the Third Wave - Aligning Theory and Methods

description: The dataset covers all countries that experienced a transition to democracy from 1974 until 2012. It includes democracies, observed on a yearly basis until the regime becomes authoritarian or until 2017 otherwise. Regimes enter our dataset in the first full year of democracy, and they exit after a breakdown. Based on our coding rules, there were 103 transitions to democracy in 84 independent countries from 1974 to 2017. This yields a total of 1731 country-years in our dataset. We have complete covariate information for 98 democratic regimes and 1595 country-years. Our data on democracy is based on Version 8 of V-Dem.
DOI: 10.15468/dl.s5qfa6
title: Occurrence Download

description: A dataset containing 63 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Country is China",
 "Geometry POLYGON((76.92764 23.97727,112.07236 23.97727,112.07236 38.02273,76.92764 38.02273,76.92764 23.97727))",
 "HasCoordinate is true",
 "HasGeospatialIssue is false",
 "OccurrenceStatus is Present",
 "TaxonKey is Gentiana lhassica Burkill"
 ]
}

 The dataset includes 63 records from 8 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0005312-250525065834625/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.u939kf
title: Occurrence Download

description: A dataset containing 0 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Clarias gariepinus (Burchell, 1822)",
 "HasCoordinate is true",
 "HasGeospatialIssue is false",
 "BasisOfRecord is one of (Specimen, Living Specimen, Observation, Human Observation, Machine Observation, Material sample, Literature Occurrence, Material citation, Occurrence evidence)",
 "Geometry POLYGON ((17.9648 28.8496,8.9648 28.8496,8.9648 19.8496,17.9648 19.8496,17.9648 28.8496))"
 ]
}

 The dataset includes 0 records from 0 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0005329-250525065834625/datasets/export for details.
DOI: 10.15468/dl.uzvaz9
title: Occurrence Download

description: A dataset containing 36817 species occurrences available in GBIF matching the query:
{
 "and" : [
 "HasCoordinate is true",
 "TaxonKey is Streptomyces Waksman & Henrici, 1943"
 ]
}

 The dataset includes 36817 records from 429 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0005311-250525065834625/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.57745/ggu5kf
title: TEM-M8_10.tif

description: TEM of M8
DOI: 10.57745/hzfkv6
title: Sample_Table.txt

description: List of samples and main characteristics
DOI: 10.57745/iuppcc
title: TEM-M8_7.tif

description: TEM of M8
DOI: 10.57745/kmph7b
title: TEM-M8_4.tif

description: TEM of M8
DOI: 10.57745/ll42uw
title: TEM-M8_13.tif

description: TEM of M8
DOI: 10.57745/nv6nfw
title: TEM-M8_6.tif

description: TEM of M8
DOI: 10.57745/piovrj
title: TEM-M8_1.tif

description: TEM of M8
DOI: 10.57745/zdsvut
title: N2-sorption.txt

description: Data of the N2-sorption isotherms at 77 K
DOI: 10.15468/dl.4g28hj
title: Occurrence Download

description: A dataset containing 162373 species occurrences available in GBIF matching the query:
{
 "and" : [
 "HasGeospatialIssue is false",
 "HasCoordinate is true",
 "OccurrenceStatus is Present",
 {
 "not" : {
 "BasisOfRecord" : [
 "is one of (Fossil, Living Specimen)"
 ]
 }
 },
 "TaxonKey is Goodenia Sm."
 ]
}

 The dataset includes 162373 records from 133 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0001583-250515123054153/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.57967/hf/5528
title: RedPsy
DOI: 10.57967/hf/5527
title: RedPsy
DOI: 10.25549/inscriptifact-ouc110594270
title: Persepolis Fortification Anepigraphic Tablet 0691.101, PFAnep 0691.101

description: [Text Description:] Administrative text with seals PFS 0520; illeg. ❧ [Text or Publication Number Note:] PFAnep 0691.101, PFUT 0691-101 ❧ [Excavation Description:] Found during Oriental Institute's excavations in Spring, 1933, near the northeastern corner of the stone platform of Persepolis, in two small rooms of a bastion in the fortification wall ❧ [Medium:] Clay ❧ [Script Note:] Non-Text ❧ [Physical Object Description:] Clay tablet with seal impressions PFS 0520 on obverse, reverse, bottom edge, left edge; illeg. on upper edge.
DOI: 10.25549/inscriptifact-ouc110592577
title: Persepolis Fortification Aramaic Text 283, PFAT 283

description: [Text Description:] Administrative text with seal PFATS 0286 ❧ [Text or Publication Number Note:] PFAT 283, Bowman 283 ❧ [Excavation Description:] Found during Oriental Institute's excavations in Spring, 1933, near the northeastern corner of the stone platform of Persepolis, in two small rooms of a bastion in the fortification wall ❧ [Medium:] Clay ❧ [Script Note:] Aramaic ❧ [Physical Object Description:] Clay tablet with ink inscription. Seal impression PFATS 0286 on obverse, flat edge.
DOI: 10.25549/jrbm-c91-273
title: Kankai ibun, vol. 1, 1807

description: Kankai ibun, [1807], volume 1 = Description and travel of circumnavigation of seas, [1807], volume 1 = 環海 異聞一 文化 4. Volume one of a manuscript by Gentaku Ōtsuki and Kōkyō Shimura who drew from four Japanese fishermen the story of their voyage around the world during repeated interviews. The Kankai Ibun is an account of their journey when they were sent off-course en route to the capital, Edo. The fishermen were rescued by a Russian ship and taken to late 18th / early 19th century Europe and, most especially, Russia.; The cargo ship, Wakamiyamaru, left from the port of Ishimaki in Sendai-han, today’s Miyagi Prefecture, in Japan carrying rice and lumber with 16 crew members for Edo, today’s Tokyo, on November 27th, 1793. Shipwrecked and drifted in the Pacific Ocean for half a year, they finally landed in one of the islands of the Andreanof Islands, a part of the Aleutian Islands on May 10th, 1794. They were transferred to Irkutsk by Russians where they stayed until the spring of 1803. They were then called in by Alexander I of Russia to St. Petersburg where they stayed from April to June in 1803, and from where they started their journey back home. They were included in the Rezanov mission on the first Russian global circumnavigation by a ship Nadezhda. It took them 16 months to reach the port of Nagasaki, Japan in September, 1804 since they left in June, 1803. Of the sixteen, five crewmen got on board. Four returned home in Sendai; one, who had become an interpreter, returned to Russia with Rezanov.
DOI: 10.25549/inscriptifact-ouc110594267
title: Persepolis Fortification Anepigraphic Tablet 0691.101, PFAnep 0691.101

description: [Text Description:] Administrative text with seals PFS 0520; illeg. ❧ [Text or Publication Number Note:] PFAnep 0691.101, PFUT 0691-101 ❧ [Excavation Description:] Found during Oriental Institute's excavations in Spring, 1933, near the northeastern corner of the stone platform of Persepolis, in two small rooms of a bastion in the fortification wall ❧ [Medium:] Clay ❧ [Script Note:] Non-Text ❧ [Physical Object Description:] Clay tablet with seal impressions PFS 0520 on obverse, reverse, bottom edge, left edge; illeg. on upper edge.