sailboats and pleasure craft. Some ships have been made with concrete hulls. Propulsion systems Propulsion systems for ships fall into three categories: human propulsion, sailing, and mechanical propulsion. Human propulsion includes rowing, which was used even on large galleys. Propulsion by sail generally consists of a sail hoisted on an erect mast, supported by stays and spars and controlled by ropes. Sail systems were the dominant form of propulsion until the 19th century. They are now generally used for recreation and competition, although experimental sail systems, such as the turbosails, rotorsails, and wingsails have been used on larger modern vessels for fuel savings. Mechanical propulsion systems generally consist of a motor or engine turning a propeller, or less frequently, an impeller or wave propulsion fins. Steam engines were first used for this purpose, but have mostly been replaced by two-stroke or four-stroke diesel engines, outboard motors, and gas turbine engines on faster ships. Nuclear reactors producing steam are used to propel warships and icebreakers, and there have been attempts to use them to power commercial vessels (see NS Savannah). In addition to traditional fixed and controllable pitch propellers there are many specialized variations, such as contra-rotating and nozzle-style propellers. Most vessels have a single propeller, but some large vessels may have up to four propellers supplemented with transverse thrusters for maneuvring at ports. The propeller is connected to the main engine via a propeller shaft and, in case of medium- and high-speed engines, a reduction gearbox. Some modern vessels have a diesel-electric powertrain in which the propeller is turned by an electric motor powered by the ship's generators. Steering systems For ships with independent propulsion systems for each side, such as manual oars or some paddles, steering systems may not be necessary. In most designs, such as boats propelled by engines or sails, a steering system becomes necessary. The most common is a rudder, a submerged plane located at the rear of the hull. Rudders are rotated to generate a lateral force which turns the boat. Rudders can be rotated by a tiller, manual wheels, or electro-hydraulic systems. Autopilot systems combine mechanical rudders with navigation systems. Ducted propellers are sometimes used for steering. Some propulsion systems are inherently steering systems. Examples include the outboard motor, the bow thruster, and the Z-drive. Holds, compartments, and the superstructure Larger boats and ships generally have multiple decks and compartments. Separate berthings and heads