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Frequently Asked Questions (FAQS);faqs.485



  Odetics

  Perceptron
A spin-off of ERIM, Perceptron has also built a number of AM laser
rangefinders. CMU and Caterpillar have used these for map building and
obstacle avoidance work in rough terrain navigation. 128x128, 2fps,
programmable tilt on nodding mirror. About $90K

  Schwarz Electro-Optics
Schwarz makes some very nice point range laser ranging devices. These
devices are slightly bigger than a soda can. About $6K. CMU experience
for use in simulated unmanned air vehicle platform worked well.

Force and Torque Sensors:

California Cybernetics
10322 Sherman Grove
Sunland, CA 91040
[phone]
[phone] (fax)
6 dof F-T devices.

Sonar sensors:
    Acoustic time-of-flight devices have been around for awhile
now. The ubiquitous Polaroid device is cheap and easily integrated
and has has found wide use in robotic devices. Other companies have
developed nice complete turnkey sonar devices though and Polaroid
is no longer the only choice.

Polaroid
(617)-577-4681 or write at
119 Windsor St,
Cambridge, MA 02139

Polariod Ultrasonic Components Group offers two ultrasonic ranging kits:
Specs are:
    Distance range: 0.26 to 10.7 meters
    Resolution: Nominal +- 3mm to 3m, +-1% over entire range
    Sonar acceptance angle: approx. 20 degrees
    Power Requirement: 6VDC, 2.5 Amps (1 mS pulse), 150mA quiescent
    Weight: Transducer, 8.2gm
            Ranging module, 18.4 gm
Designer's Kit:
    1 transducer, 1 ranging module, electronics display
    accurate to 1/10th meter. Cost is $169
OEM kit:
    2 transducers, 2 ranging modules. Cost is $99.

  Siemans - nice complete sensor package, 5 degree cone angle
  Massa - components

Position Sensing Devices:
Noncontact, cabled measurement of 6DOF's. Virtual reality applications.

Polhemus Inc
[phone]
[phone] (fax)
Burlington, VT
3Space, Isotrak, FasTrak:
Electromagnetic devices for sensing xyz and rotations remotely. Limited
to 1m or so radius. Sensitive to metallic objects in vicinity. Approx $3k

Ascension Technology
[phone]
[phone]
The Bird.

Video systems
Selspot - used for biomechanical applications.

Pan/Tilt devices:
A common robotic need. For 10 years or more I have heard the phrase
"If only someone made a nice/small/inexpensive/computer-interfaced
pan-tilt mechanism." Most pan-tilts sold today by companies such as
Pelco and Vicon are for CCTV applications for continuous scanning
or remote operation. At most these will have pots for feedback.
A number of undersea companies make pan-tilt devices as well.

    Remote Ocean Systems
    5111-L Santa Fe Street
    San Diego, CA 92109
    [phone]
    Underwater P/T systems, expensive $6K but very nicely packaged

    RSI Research
    Sidney, BC
    [phone]
    Underwater pan-tilts

    Photosea
    6377 Nancy Ridge Drive
    San Diego, CA 92121
    [phone]
    underwater pan-tilts including Cobra, very small design.

    Telemetrics
    Hawthorne, NJ
    [phone]
    Computer controlled P/T devices - fairly large though.

    Directed Perception
    1451 Capuchino Avenue,
    Burlingame, CA 94010
    [phone]
    Computer controlled pan-tilt unit Model PTU-33-17.5
    Weighs 1kg and can support ~1.5kg camera payload.
    Very nice specs: 200 deg/sec slew, 3-4arc-min accuracy,
    RS-232 interface, About $1200.

____________________________________________________________________________
Robot parts: Suppliers of useful mechanical and electrical components.

Allied Devices
standard precision mechanical components
2365 Milburn Avenue,
PO Box 502
Bladwin, NY 11510
[phone]
[phone] (fax)

Winifred Berg

C&H Sales
Pasadena, CA
[phone]
[phone]
Surplus parts. Motors etc.

Small Parts Inc.
6891 NE Third Ave
PO Box 381966
Miami, FL 33238-1966
[phone]
fax [phone]
Lots of neat small supplies including: materials, metal stock, fasteners,
tools etc.

Servo Systems
115 Main Road
PO Box 97
Montville, NJ 07045-9299
[phone]
fax [phone]
Surplus pieces and prices, motors, actuators, geardrives, controllers,
robots, encoders, transducers, amplifiers.

Herbach and Rademan
401 E. Erie Avenue
Philadelphia, PA 19134
[phone]
Lots of surplus stuff including AC and DC motors.

Nordex
50 Newton Road
Danbury, CT 06810-6216
Gears, cams, universals etc.

Seitz
Box 1398
Torrington, CT 06790
[phone]
drive components, gears etc.

Stock Drive Products
2101 Jericho Turnpike
Bobx 5416
New Hyde Park, NY 11042-5416
[phone]
[phone] (fax)
Great set of handbooks of thousands of components.

Edmund Scientific
101 E. Gloucester Pike
Barrington, NJ 08007-1380
[phone] order
[phone] customer service
Lots of optics, science and educational items. A little high priced, but
nice selection.

PIC Design
PO Box 1004
Benson Road
Middlebury, CT 06762-1004
[phone] (except CT)
[phone]
Bearings, clutches, brakes, couplings, tools, belts, pulleys, gears etc.

Any technical library should have catalogs from the larger
distributors. These might include McMaster-Carr, Grainger, Allied,
Newark, etc.


____________________________________________________________________________
Hero robots:

Heros are no longer being made but Heath still offers some replacement
parts.  They had about 8 years of sales: 4,000 Hero Jr's, 3,000 Hero
2000's, 14,000 assembled Hero 1's. Ones with less capability didn't do
as well but higher priced ones did ok.

Heathkit
Benton Harbor, MI
[phone] order line
tech line [phone]
_____________________________________________________________________________
Puma manipulators:

Pumas are probably the most common robot in university laboratories
and one of the most common assembly robots. Designed by Vic
Schienman many years ago it was produced for many years by Unimation
(later purchased by Westinghouse and sold at a loss later to Staubli,
a Swiss company) Found in many university labs as well.

PUMA singularities:

The PUMA has three singularities: the ``alignment'' singularity
(wrist is as close to the axis of joint 1 as it can get),
the ``elbow'' singularity (elbow is fully extended or folded
up; the latter is not possible because of joint limits), and
the wrist singularity (the axes of joints 4 and 6 are aligned).

The angles corresponding to these depend on the DH parameter
assignment.  For the PUMA, the definitions given in [1] are perhaps
the most commonly used Using these, and letting A2, A3, D3, and D4
denote the translational DH offsets, the singularities occur when the
following are true:

Alignment:    D4*sin(ang2+ang3) + A2*cos(ang2) - A3*cos(ang2+ang3) == 0

Elbow:        sin(ang3 - atan2(A3,D4)) == 0

Wrist:        sin(ang5) == 0

Typical offset values for the PUMA 560 are

A2 =  431.80
D3 =  149.09
A3 =  20.32
D4 =  433.070

[information provided by John Lloyd <[e-mail]>]

Useful references:

[1] Richard Paul, Brian Shimano, and Gordon Mayer, ``Kinematic Control
    Equations for Simple Manipulators''. IEEE Transactions on Systems,
    Man, and Cybernetics, Vol SMC-11, No. 6, June 1981.

[2] B Armstrong, O Khatib, and J. Burdick
    The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm
    Proceedings IEEE Int. Conference on Robotics and Automation, April 1986
    San Francisco, CA pp510-518
_____________________________________________________________________________
Simulators:

CADSI
PO Box 203
Oakdale, IA 52319
[phone]
DADS - robot dynamics package

Deneb Robotics, Inc.
3285 Lapeer Road West
PO Box 214687
[phone]
Product:    IGRIP
Platforms:    SPARCs, (SGI's?)
Cost:        US$50-$60,000.
Allows offline programming, dynamics capability etc.

Mechanical Dynamics Inc.
2301 Commonwealth Blvd
Ann Arbor, MI 48105
[phone]
ADAMS dynamics package

Silma/Cimstation
1601 Saratoga-Sunnyvale Road
Cupertino, California  95014
[phone]
Product:    CimStation
Platforms:    SGI-4D, SUN SparcStation, Apollo, Intergraph,
        Computervision, HP, IBM Risc6000 and DEC.
Cost:        Base system around $55K (commercial license)
        They also have a University Partnership
        Program to enable universities to purchase CimStation
        for around $20K US and $25K International.

Provides: Basic CAD Tools: 2D and 3D solid & wireframe, IGES interface,
Robot Modelling: generate the required governing
equations (iterative or closed form)
automatically for "many" classes of robots
Path Generation
Kinematic Simulation with Collision Detection
Dynamic Simulation (CimStation only at this point)
I/O Operations

John Craig of "Introduction to Robotics" fame is head of Silma's R&D.
Silma has a programming environment called SIL complete with its own
PASCAL-like iterative language with graphics and robotics extensions.
CimStation is built out of this language.  This allows you to add your
own functionality. E.g. your own path planner. You can also write
C-code, compile it, and add it to the system.

Comutek
1223 Peoples Avenue
Troy, NY  12180
ph# 518 276 2817
fax# [phone]
contact:  Vinay Joshi
Products: Work-Out
Cost: Around $25000.

Robot Simulations/Workspace
[From: "Newsletter of the Australian Robot Association - Jan 1991]
``"Vision in Design" of Punchbowl N.S.W. announces the Australian
availability of version 2.0 of the "Workspace" robot-simulation software
developed by "Robot Simulations" in the U.K.  The software, which runs on
an IBM-compatible personal computer, is claimed to provide features similar
to those available on much more expensive programs that require workstation
hardware.  Version 2.0 is said to be faster than the initial version and to
offer such capabilities as automatic collision detection, 3D solid shaded
colour graphics real-time display of simulations, and an expanded library
of inverse kinematics algorithms for standard robots.  Up to nine robots
and associated machinery may be simulated simultaneously.  Custom-designed
robots having up to nine links can be simulated.''

Technomatix/Robcad
[address?]

GMF Robotics
2000 S. Adams Road
Auburn Hills, MI  48057
ph# 313 377 7000
Products: OLPW-200
Platforms: ?
Cost: ?

Auto Simulations, Inc.
655 Medical Drive
Bountiful, UT  84010
ph# 801 298 1398
telex 801 298 8186
contact:  Teresa Francis, ext 330
Products: AutoMod II
Platforms: ?
Cost: ?
_____________________________________________________________________________
Real-Time Operating Systems

This is an abridged list of Dave Stewart's FAQ on RTOS'. See
comp.real-time and news.answers for that FAQ.

Below is a list of both commercial and research Real-Time Operating
Systems (RTOS) which are being used around the world for implementing
robotic systems.  Only the names and addresses of the distributors are
included.  Since the available features of each are constantly
changing, and the advantages and disadvantages of each are greatly a
matter of opinion and target application, no such descriptions are
given.

Commercial RTOS:

    * iRMX III
        Runs on Intel 80X86-based computers
    U.S.A.:
        Intel Corporation
        3065 Bowers Avenue
        Santa Clara, California 95051
        tel [phone]
    * LynxOS
        Runs on wide variety of platforms, including Motorola,
        Intel, Sun, and Hewlett Packard.

        Lynx Real-Time Systems, Inc
        16780 Lark
        Los Gatos, CA 95030
        tel [phone]
        fax [phone]

    * OS-9
        Runs on Motorola MC680X0-based single board computers.

        Microware System Corporation
        1900 N.W. 114th St.
        Des Moines, Iowa 50322
        tel [phone]
    * pSOS+
        Runs on a variety of Motorola 680X0 and 88100, and
        Intel 80386 computers.  Requires a host workstation or
        personal computer if pASSPORT+ real-time programming
        environment is to be used.

        Software Components Group, Inc.
        1731 Technology Drive
        San Jose, CA  95110
        tel [phone]
        fax [phone]

    *VRTX
        Runs on a wide variety of processors, including Motorola 680X0,
        Intel 80X86 and 80960, National Semiconductor series 3200.

        Ready Systems
        470 Potrero Avenue
        P.O.Box 60217
        Sunnyvale, CA 94086
        [phone]
        fax [phone]

    * VxWorks
        Runs on a wide variety of MC680X0 and SPARC-based single
        board computers. Requires a workstation for program developments

        Wind River Systems Inc.
        1000 Atlantic Avenue
        Alameda, CA 94501
        [phone]
        fax [phone]

Research RTOS that are distributed:

    * Chimera II
        Runs on MC680X0-based single board computers.
        Requires a Sun workstation for program development
    U.S.A.:
        Dept. of Electrical and Computer Engineering
        Carnegie Mellon University
        5000 Forbes Avenue
        Pittsburgh, PA 15213
        ATTN: David B. Stewart
        tel [phone]
        fax [phone]
        email: [e-mail]

    * Harmony
        Runs on MC680X0-based single board computers
    Canada:
        Division of Electrical Engineering
        National Research Council of Canada
        Ottawa, Ontario, Canada
        K1A 0R6
        ref: NRCC Tech Report No. 30081

Robot Control C Library (RCCL)
A robot programming environment embedded in C/UNIX. A graphics
simulator is provided which supports the PUMA, Stanford, and ``Elbow''
manipulators. The system can be compiled on SGIs (so the Indigo should
be fine), and the graphics runs under either X or GL.
You can get the system from RCIM for a small fee to cover copying and
shipping. Send me some mail if you are interested.
John Lloyd            Research Center for Intelligent Machines
[e-mail]   McGill University, Montreal
[phone]            Fax: [phone]

_____________________________________________________________________________

Books:

The readership of this group ranges from the naive user to experienced
robot designers and users. Accordingly, this list covers the gamut as well.

The Robot Builder's Bonanza: 99 Inexpensive Robotics Projects
Gordon McComb
TAB Books

Interfacing Test Circuits With Single-Board Computers
Robert H. Luetzow
TAB Books

Build Your Own Universal Computer Interface
Bruce Chubb
TAB Books

Robots
Peter Marsh
Marsh edited the volume and the book is made up of several
contributions from robotics researchers.
[ok,ok I'm in here too, but it's a very well illustrated book that
covers the general topic of robots. Excellent source materials and
graphics.]
Crescent (Crown) Publishers, NY 1985

Microprocessor Based Robotics
Mark J. Robillard
Howard Sams & Co. 1983

Advanced Robot Systems
Mark J. Robillard
Howard Sams & Co. 1984

The 6.270 Robot Builder's Guide
Fred Martin
  Server: kame.media.mit.edu (18.85.0.45)
  File  : ~ftp/pub/fredm/README
  This directory contains "The 6.270 Robot Builder's Guide", the
  course notes to the 1992 MIT LEGO Robot Design Competition.
  Contact: Fred Martin at [e-mail]

_____________________________________________________________________________
Acknowledgements:
[People who responded directly to me or the net]

Hans Moravec, Maki Habib, Ken Goldberg, David Stanton,
John Nagle, Sean Graves, Sjur Vestli, Mark Yim, Rich Wallace
Dan Hudson, Sanjiv Singh, Matt Stein, Dave Stewart, Ed Cheung, Ron
Fearing, Klaus Biggers, Lisa Rendleman, Nobuhiko Mukai
--
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Newsgroups: rec.running,news.answers
Subject: rec.running FAQ part 1 of 3
Summary: This posting contains a list of Frequently Asked
         Questions and interesting information about running.
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Revision: 0.6 11/21/92 12:16:34
Supercedes: 0.5 10/19/92 15:11:31


Answers to REC.RUNNING FAQ and Interesting Information

The following posting contains the answers to frequently asked
questions posed to rec.running and interesting information that
runners might find useful. Answers include the name and email address
of the author.  If no author is listed, I'm the guilty party. If
you're the author and I've misspelled your name or have the wrong
email address, let me know and I'll fix it.

If you feel that I've left something out of the list, or if you find
something thats inaccurate, please let me know. I've tried to
summarize opposing viewpoints on highly emotional issues so let me
know if I have mis-stated the viewpoints.

Yonson Serrano
[e-mail]

===========================================================================

Quick Index: * = section hasn't been written yet.
             ! = updated since last FAQ.
             + = new section.

  Avoiding Dogs
  Books and Magazines
  Clothes (Winter/Summer)
  Clothing Materials
* Cross-Training
  General Information
     Dead Runners Society
     Terminology (e.g. overpronation, oversupination)
     Calorie/energy count
     Calories burned by running
     Fat burning primer
     Conversion chart
     Fluid replacement
*    Road race facts
     Second Wind
     Soda Pop
     Computer software
  Hashing
  Interval training
  Legs
     Sore Knees
     Leg Massage
  Mail Order Addresses
* Marathon
*    Facts
     Increasing your mileage
!    Major Marathons (e.g. Boston, LA, New York)
     Miscellaneous
  Medical / Injuries
     Achilles tendinitis (incomplete)
!    Shin splints
     Side stitches
     Lactic Acid
     Loose bowels
     Diabetes & running
  Nutrition and Food
     Nutrition primer
     Powerbars
  Orienteering
  Predicting times
  Running Clubs & Organizations
* Running During Pregnancy HELP HELP
* Shoes (Not yet written)
+ Stretching
  Sweat
  Weather (cold, hot, wind, rain, altitude)

! RACE DATES (Trial)

 Specific Questions Answered:
   (1) Is it better to run in the morning or evening?
   (2) Should I run when I have a cold/fever?
   (3) How often should I run?
   (4) Which of the 8 lanes on a US track is actually
       the '1/4 mile' one?
   (5) I have started running after having my baby and I am curious to
       know if any one has some stomach exercises?

***************************************************************************
******************************* START *************************************
***************************************************************************

===========================================================================

Avoiding Dogs   (Arnie Berger  [e-mail])
[Ed. note: Originally posted to rec.bicycles - but it applies here as well]

  There are varying degrees of defense against dogs.

  1- Shout "NO!" as loud and authoritatively as you can. That works more
     than half the time against most dogs that consider chasing you just
     good sport.

  2- Get away from their territory as fast as you can.

  3- A water bottle squirt sometimes startles them.

  If they're waiting for you in the road and all you can see are teeth
  then you in a heap o' trouble. In those situations, I've turned around,
  slowly, not staring at the dog, and rode away.

  "Halt" works pretty well, and I've used it at times. It's range is about 8
   feet.

   I bought a "DAZER", from Heathkit. Its a small ultrasonic sound generator
   that you point at the dog. My wife and I were tandeming on a back road and
   used it on a mildly aggressive German Shephard. It seemed to cause the
   dog to back off.

   By far, without a doubt, hands down winner, is a squirt bottle full of
   reagent grade ammonia, fresh out of the jug. The kind that fumes when
   you remove the cap. When I lived in Illinois I had a big, mean dog that
   put its cross-hairs on my leg whenever I went by. After talking to the
   owner (redneck), I bought a handlebar mount for a water bottle and loaded
   it with a lab squirt bottle of the above mentioned fluid. Just as the
   dog came alongside, I squirted him on his nose, eyes and mouth. The dog
   stopped dead in his tracks and started to roll around in the street.
   Although I continued to see that dog on my way to and from work, he
   never bothered me again.

   Finally, you can usually intimidate the most aggressive dog if there are
   more than one of you. Stopping, *and moving towards it will often
   cause it to back off*. ( But not always ). My bottom line is to always
   *run* routes that I'm not familiar with, with someone else.

   As last resort, a nice compact, snubbed nose .25 caliber pistol will fit
   comfortably in your jersey pocket. :-)

===========================================================================

Books and Magazines (Phil Cannon [e-mail])

Books
=====

1) The Lore of Running -  Tim Noakes
2) The Complete Book of Running - Fixx
3) The Runner's Handbook - Bloom
4) Long Distance Runner's Guide to Training and Racing - Sperks/Bjorklund
5) The Runner's Handbook - Glover & Shepard
6) Beyond Jogging - Spino
7) Jogging, Aerobics and Diet - Royald
8) The New Aerobics - Cooper

Magazines
=========

Track and Field News (monthly $31 US per year)
  2370 El Camino Real, suite 606
  Mountain View CA 94040
  415-948-8188
  Fax:  [phone]
  1-800-GET-TRAK (1-800-438-8725)

        The self-proclaimed "Bible of the Sport", T&FN is the
        source for major meet results in track & field, road
        racing, cross-country, and race walking from the high
        school to international levels.  Emphasis is on U.S.
        athletes. though significant international coverage is
        provided. Compiles annual post-seasonal rankings of the
        top 10 performers in the world and U.S. in every major
        event, men and women. Publishes list of top 50 performances
        in each event for the year. Also sponsors TAFNUT tours
        for major championships and the Euro Circuit/GP meets.
        Lots of stats, good interviews.

Track Technique (quarterly; $15 in US, $16 outside) same contact info
as Track & Field News.

        The official TAC quarterly, each issue has important articles
        on technique, training, and other practical information on
        all events, at all levels. Intended for coaches.

California Track News ($18/yr)
  4957 East Heaton
  Fresno, CA  93727

        California's only all track and cross-county publication. Lots
        of attention to prep school action.

Running Research News (bi-monthly $17 US per year)
  Post Office Box 27041
  Lansing MI 48909
  1-800-333-FEET

Running Times (monthly $17.70 US per year)
  P.O. Box 511
  Mount Morris, IL 61054-7691
  1-800-877-5402

Runner's World (monthly $17.97 US per year)
  P.O. Box 7574
  Red Oak, IA 51591-2574

Masters Track & Field News (5 issues/yr; $10.50)
  P.O. Box 16597
  North Hollywood, CA  91615

        Results, rankings, age-records, schedules, stories of age 40+
        athletes worldwide.  "Satisfaction guaranteed"

===========================================================================

Clothes (Winter/Summer) (Mike Gilson [e-mail])

Disclaimer
----------
Preference on the amount of clothing required for winter
running varies widely between individuals.  There are a
couple of runners that I see that wear shorts, long sleeved
T-shirt and gloves at 30F!  So expect to experiment with
how much clothing at various temp's.

Second: I don't have any interest in the type of clothes
you buy/wear; I neither make nor lose money by your choices.
What I have to say here is *my* opinion only.

Rules for Winter Running
------------------------
The first rule is to dress in layers.  Outer layers can be
added/shed easily.

The second rule is to stay dry.  When your clothes get wet,
they get very heavy - heavy enough to degrade performance -
and you get cold.

The final rule is to hydrate.  You may not sweat as much, but
you still need to take in fluids.

Clothing Layers
---------------
Inner layer.  The layer closest to the skin should be a
tight, lightweight fabric that wicks water away from the
skin.  Shirts should be long-sleeved, skin-tight (without
chafing), and may be turtle-necked (my preference).  There
are a variety of fabrics that are effective in wicking water;
I have had a lot of success with polypro, but it is not
machine washable.  These are readily available at running
specialty shops and mail order.  For pants, lycra running
tights work very well.

Outer layer.  The next layer should be a looser, mediumweight
fabric that wicks water.  A zipper at the neck is convenient
for temperature control.  I prefer a shirt that is slightly
longer than waist-length so that I have the option of tucking
it into the pants.  I've had more success in finding these
in cycling stores than anywhere else.  Two layers of lycra
tights work if it's really cold.

Shell.  A water-proof or water resistant shell that is
breathable is useful in the coldest conditions.  These are
usually sold as suits, but tops are available separately
at a higher cost (relatively speaking).  Gore-tex is
considered by many to be the best fabric, but there are
cheaper alternatives.  You can get these suits made to your
measurements or buy them off the rack.  I have a Burley
jacket, which I purchased at a cycling shop.  It's chief
advantage over the running suits is the venting and extra
zippers for temperature control.  There are zippers under
each arm, starting at mid chest going up to the armpit and
travelling down the arm to about mid forearm.

Tights.  Tights have been mentioned above as inner/outer layers.
Many people run in sweats, but sweats have two disadvantages:
they're heavy and they get heavier when wet.  Lycra is
lightweight and warm, but costs more and shows off body
(im)perfections more than sweats.

Gloves.  Any cotton glove works.

Hat.  A lot of heat is lost through the scalp, so a hat
is a must for most people.  Cotton hats get too heavy
with sweat.  Balaclavas are more versatile than hats,
and allow you to cover you neck/face if requires.  Both
hats and balaclavas are available in wicking fabrics.

Socks.  A wicking sock will seem less heavy and your feet
will be drier than a conventional sock.  Coolmax socks are
my preference, worn in a single layer.  You can also find
other fabrics, such as capilene or polypro socks, which are
considerably more expensive.

Running shoes.  Runner's World (anyone know which issue?) had
some tips from Alaskan runners on how to put (short) screws
into the sole of the shoe for better traction on the ice.
I haven't tried it, but you obviously have to be careful not
to puncture the midsole, air/gel chambers, etc.

Dressing for Winter Running
---------------------------

Temp range                         Number of layers
(degrees F)       Inner   Outer   Shell   Tights   Gloves   Hat  Socks
-------------------------------------------------------------------------
50-55               1       0       0       1         1      0     0
40-45               1       1       0       1         1      0     1
30-35               1       1       0      1-2        1      1     1
20-25               1       1       1       2         1      1     1
0-15                1       1     1+pants   1         1      1     1

===========================================================================

Clothing materials  (Jim Carson  [e-mail])
[Ed note: From a summary Jim posted]

Polarlite
  Fluffy, fleecy stuff also called Polarplus and Synchilla.  Comfortable.
  Incredibly warm, especially under something that breaks the wind.
  Doesn't wick moisture out very well.  Breathes very well.

Supplex (nylon)
  Comfortable.  It is breathable and water repellent (but NOT water proof).
  Seems to absorb a small amount of water if it is really getting drenched