Text this: Design and analysis of a novel quadrotor with a two-axes propeller rotation

  _____     _____      _____   _    _    _____    
 /  ___||  |  ___||   / ___// | || | || |  __ \\  
| // __    | ||__     \___ \\ | || | || | |  \ || 
| \\_\ ||  | ||__     /    // | \\_/ || | |__/ || 
 \____//   |_____||  /____//   \____//  |_____//  
  `---`    `-----`  `-----`     `---`    -----`