Added balance assist in second line of abstract. Thanks Frans.

main.tex

@@ -27,17 +27,18 @@
 \abstract{
   Uncontrolled bicycles are generally unstable at low speeds. We add an
   automatically controlled steering motor to a consumer electric bicycle that
-  stabilizes the riderless bicycle down to about 3~\si{\kph}. We hypothesize
-  that a stabilized bicycle will reduce the probability of falling. To test the
-  motor's possible assistance during falls, we apply varying magnitude external
-  handlebar perturbations to twenty-six participants who rode on a treadmill
-  with the balance assist system both activated and deactivated. The
-  probability of recovering from a handlebar perturbation significantly
-  increases when the balance assist is activated at a travel speed of
-  6~\si{\kph}. This positive effect is most prominent at and around the
-  individual riders' perturbation resistance threshold. We conclude that use of
-  a balance assist system in real world bicycling would reduce the number of
-  falls that occur near riders' control authority limits.
+  stabilizes the riderless bicycle down to about 3~\si{\kph} to assist the
+  rider in balancing the vehicle. We hypothesize that a stabilized bicycle will
+  reduce the probability of falling. To test the motor's possible assistance
+  during falls, we apply varying magnitude external handlebar perturbations to
+  twenty-six participants who rode on a treadmill with the balance assist
+  system both activated and deactivated. The probability of recovering from a
+  handlebar perturbation significantly increases when the balance assist is
+  activated at a travel speed of 6~\si{\kph}. This positive effect is most
+  prominent at and around the individual riders' perturbation resistance
+  threshold. We conclude that use of a balance assist system in real world
+  bicycling would reduce the number of falls that occur near riders' control
+  authority limits.
 }
 
 \section*{Affliation}
@@ -853,7 +854,8 @@ \section*{Acknowledgements}
 insight in the statistical condsiderations. We thank all of the assistants that
 helped run the experiments and the participants for their time an enthusiasm.
 We thank Peter Stahlecker, Benjamin Gonzalez, and Riender Happee for valuable
-feedback in early revisions.
+feedback in early revisions. Lastly, we thank Frans van der Helm for the
+consistent encouragement to execute this experiment.
 
 \section*{Funding}
 %