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![PDF] Steerable Propulsion Units: Hydrodynamic issues and Design Consequences | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/b943e93df74b6fdf4b6da816a5b70b3cb450b5bd/4-Figure10-1.png "PDF] Steerable Propulsion Units: Hydrodynamic issues and Design Consequences | Semantic Scholar")