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Let G be a compact connected Lie group and p: E → ΣA be a principal G-bundle with a characteristic map α: A → G, where A = ΣA₀ for some A₀. Let $K_i\to F_{i-1}\hookrightarrow F_i|1\le i\le m$ with F₀ = ∗, F₁ = ΣK₁ and Fₘ ≃ G be a cone-decomposition of G of length m and F’₁ = ΣK’₁ ⊂ F₁ with K’₁ ⊂ K₁ which satisfy $F_i{F}^{\text{'}}₁\subset F_{i+1}$ up to homotopy for all i. Then cat(E) ≤ m + 1, under suitable conditions, which is used to determine cat(SO(10)). A similar result was obtained by Kono and the first author (2007) to determine cat(Spin(9)), but that result could not...