Segway comparison

The campus safety people at Rochester Institute of Technology were kind enough to let me use one of their actual Segway HT's to my home-built version. Amusingly, their's didn't work at all (it gave a power fault error code) while mine performed very well. Though I later got to try comparing to a different Segway and determined that, while mine worked very well, I had room for improvement in my own software. But now I think I've nearly matched the actual Segway's stability, if not quite its reliability, quality, or endurance.