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Why do pressure-fed systems have to be pressurized with helium or nitrogen?

There shouldn't be any need to pressurize it with something else, such as helium, which adds mass especially if you consider the helium tank. … I also don't understand how you can mix helium with the propellant like that. How do you ensure that when you open the valve, the propellant comes out instead of a propellant-helium mix? …
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