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Warm Up Cold Floors With Heating Cables
You can warm up your basement floor with electric heating cables or mats. This type of heat doesn't warm the room much, but it makes floors much more comfortable. The downside is that heating cables are expensive to install and expensive to run. You can buy a loose cable system or mats with the cable attached. Loose cables are more work to install but cost less than mats. The more area you cover with cables or mats, the lower the cost per square foot.
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Hire a Pro to Design Your HVAC System
Don't make the rookie DIY mistake of trying to heat your basement by cutting a hole in your main trunk line and screwing on a heat register. This will only create an imbalance in your entire heating system, and won't provide the heat where you need it. Money spent on proper design is a good investment. Hire a professional heating contractor to design your ductwork. If you would like to do the work yourself, look for a heating contractor who will provide the plan and possibly even the materials.
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Frame Soffits With OSB
Most basements have ducting or plumbing mounted below the joists that needs to be boxed in. The most common method is to build a wooden frame around them that can be covered with drywall. Here's a pro tip for building these soffits. Rather than frame the sides with 2x2s or some other lumber, simply cut strips of plywood or OSB (oriented strand board) for the sides.