that was propelled by manually turned compound cranks. One of the drawings of the Anonymous Author of the Hussite Wars shows a boat with a pair of paddlewheels at each end turned by men operating compound cranks. The concept was improved by the Italian Roberto Valturio in 1463, who devised a boat with five sets, where the parallel cranks are all joined to a single power source by one connecting rod, an idea adopted by his compatriot Francesco di Giorgio. In 1539, Spanish engineer Blasco de Garay received the support of Charles V to build ships equipped with manually-powered side paddle wheels. From 1539 to 1543, Garay built and launched five ships, the most famous being the modified Portuguese carrack La Trinidad, which surpassed a nearby galley in speed and maneuverability on June 17, 1543, in the harbor of Barcelona. The project, however, was discontinued. 19th century writer Tomás González claimed to have found proof that at least some of these vessels were steam-powered, but this theory was discredited by the Spanish authorities. It has been proposed that González mistook a steam-powered desalinator created by Garay for a steam boiler. In 1704, French physicist Denis Papin constructed the first ship powered by his steam engine, mechanically linked to paddles. This made him the first to construct a steam-powered boat (or vehicle of any kind). Then, he poured the first steam cylinder of the world in the iron foundry at Veckerhagen. In 1787, Patrick Miller of Dalswinton invented a double-hulled boat that was propelled on the Firth of Forth by men working a capstan that drove paddles on each side. One of the first functioning steamships, Palmipède, which was also the first paddle steamer, was built in France in 1774 by Marquis Claude de Jouffroy and his colleagues. The steamer with rotating paddles sailed on the Doubs River in June and July 1776. In 1783, a new paddle steamer by de Jouffroy, , successfully steamed up the river Saône for 15 minutes before the engine failed. Bureaucracy and the French Revolution thwarted further progress by de Jouffroy. The next successful attempt at a paddle-driven steam ship was by Scottish engineer William Symington, who suggested steam power to Patrick Miller of Dalswinton. Experimental boats built in 1788 and 1789 worked successfully on Lochmaben Loch. In 1802, Symington built a barge-hauler, , for the Forth and Clyde Canal Company. It successfully hauled two