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Back on the engine waste heat being used for steam generation concept... what if the vehicle's downpipes went through a drum containing water (supplied by a water tank elsewhere). The engine heats up, the exhaust is quite hot and starts heating the drum of water. The drum of water could then to used to power a couple extra pistons that were previously just spinning with open valves. Once it is up to temp, the steam starts driving the piston and the valves operate accordingly...
Now this may be silly... the exhaust could bubble through the water for maximum heat transfer and reduction in airborne contaminants (like smoke through a bong)
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