NXTway(LEGO NXT based Segway) seems to be a nice bench mark application for programming languages which support the NXT.
Thanks to LEJOS NXJ platform C, LEJOS OSEK also can be used to develop a NXTway.
I named this version of NXTway "NXTway DS (Double light Sensors)".
It uses only LEGO standard hardware parts except for a plastic light shade cover and control algorithm is executed every 1msec! (very high speed)