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2008, Helen Gilhooly, chapter 1, in Complete Japanese, →ISBN, page 31:
In overall appearance, katakana symbols are more angular in shape and hiragana are more rounded. Here are the first five sounds of each script (a, i, u, e, o). Compare these two sets of symbols and see if you can identify these features: Hiragana あ い う え お Katakana ア イ ウ エ オ