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A comment on Toroidal propeller allows a drone to operate more quietly [pdf]. Parent comment

Re:Toroidal propeller allows a drone to operate more quietly... by taneq on Monday January 30, 2023 @07:28AM (#34578801)
This might be what you're referring to, but Tom Stanton built a swashplateless 4 axis R/C helicopter (albeit not with toroidal blades) based on this principle: https://youtu.be/d80oXSCcHTk
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