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# Long description

This is a sensing–logic–actuation cycle for the Oxboard. The sensing box contains the words ‘Sensors – detect position of rider, various forces, speed, etc.’ The logic box contains the words ‘Logic – calculation of forces, reasoning, planning and control used to decide what power to apply to the motors’. The actuation box contains the words ‘Actuation – the motors turn the wheels to create forces keeping the rider upright and moving in the desired direction’. The environment shape at the bottom contains the words ‘Environment – flat ground’ and ‘Rider in charge’, meaning that the rider is in the environment of the machine, and that the machine responds through its sensors to how the rider leans his body.