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"My guess is when you burn coal to run hydrogen-powered autos you are utilizing 20% of the energy captured in coal. One way or another you will waste the other 80%."

Wrong. Gasification of the coal, separation of hydrogen and carbon monoxide. Use the hydrogen in fuel cells, burn the carbon monoxide in combined cycle gas turbines. Cycle efficiency is far higher than 20%.

You are absolutely right. Only problem is there are coal burning plants (making electricity) in the UK and no gasification plants making hydrogen for automobile fuel cells.
For the future you are correct!

[PDF]Coal - Bridge to the Hydrogen Economy
File Format: PDF/Adobe Acrobat - View as HTML
... If cheap regenerative fuel cells & hydrogen generators can really be developed, the
"Holy Grail" hydrogen economy is quite interesting Expect coal gasification ...
www.engr.pitt.edu/pcc/2001plenary/ SimbeckCoaltoH2revised.pdf - Similar pages