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Hypocausts
The Romans used hypocausts to provide radiant floor heating to their homes and baths. A hypocaust was a system by which a furnace was connected to a subfloor chamber that was filled with hot air and smoke. It could be regulated with bronze vents. This precursor to central heating was lost or ignored for 1500 years, as systems for central heating were not pursued again until the 1900s.
