Flame Aegis is a fire-fighting drone designed to combat high-rise building fires in urban areas. This product has been requested by the Gezamenlijke Brandweer, and certain stakeholder requirements have been imposed. There are further regulatory constraints at both national and European levels. A 150 kg drone with a capacity of 40 L of water was designed in the end. The water can be delivered by spraying at a rate of 150 L/min through a nozzle or by dropping the contents of the tank within 2 seconds. The drone is able to perform a 15-minute mission with a 5-minute turnaround time.

The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of a rigid body from a single spinning throw by attaching a small and inexpensive stand-alone measurement device consisting of a gyroscope, accelerometer, and a reaction wheel. The method includes a compensation for the increase of moment of inertia due to adding the measurement device to the body, and additionally obtains the location of the centre of gravity of the body as an intermediate result. Experiments performed with known rigid bodies show that the mean accuracy is around 2%. Monte Carlo simulations reveal invariance to direction of spin and positioning of the measurement device, but show some sensitivity to noise.