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This jitter inheritance accumulates across each gateway and can significantly impact the schedulability of lower priority messages. In this paper, we show that the real-time performance of the network can be enhanced by a simple method of traffic shaping that eliminates this inherited queuing jitter. This method does not require access to global time, nor does it require precise time-stamping of when messages are received at the gateway or blocking read calls. It can also be extended to account for clock drifts between networks.<\/jats:p>","DOI":"10.1145\/2452537.2452544","type":"journal-article","created":{"date-parts":[[2013,3,25]],"date-time":"2013-03-25T13:31:59Z","timestamp":1364218319000},"page":"37-40","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["Traffic shaping to reduce jitter in controller area network (CAN)"],"prefix":"10.1145","volume":"9","author":[{"given":"Robert I.","family":"Davis","sequence":"first","affiliation":[{"name":"University of York, York, UK"}]},{"given":"Nicolas","family":"Navet","sequence":"additional","affiliation":[{"name":"Villers-l\u00e8s-Nancy (France)"}]}],"member":"320","published-online":{"date-parts":[[2012,11]]},"reference":[{"key":"e_1_2_1_1_1","first-page":"40","article-title":"CAN Specification version 2.0","volume":"30","year":"1991","journal-title":"Robert Bosch GmbH, Postfach"},{"volume-title":"proceedings Work-in-Progress session, RTSS","year":"2009","author":"Burns A.","key":"e_1_2_1_2_1"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11241-007-9012-7"},{"volume-title":"International Standards Organisation (ISO)","year":"1993","author":"Road ISO","key":"e_1_2_1_4_1"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/0165-6074(94)90080-9"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.1986.1092946"},{"key":"e_1_2_1_7_1","unstructured":"P. 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