While the ancient Greeks (and accordingly the Romans) seem to have knowledge of rudimentary steam-powered devices, I have always felt that it was their reliance on slavery that precluded the development of these amusing and interesting 'toys' into more useful machines. In short they had little incentive to develop steam engines. Or to put it yet another way: there was absolutely no reason to develop steam engines to drain deep mines, mass-produce cloth, forge iron bars, or power ships; when you already have thousands of slaves who can do, and already do, that sort of work. Furthermore an ancient Greek steam-powered industrial revolution would probably have been stymied by a lack of fuel: much of the ancient Hellenic forest had already been felled centuries earlier and Greece has few deposits of coal.