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Generally speaking, the CAN network messaging is event-triggered, and the TTCAN provides a time-triggered method to send and receive messages. This article Raised a real-time dynamic priority algorithm which was based on TTCAN. In this way, the messages in the TTCAN network can be scheduled dynamically in Arbitrating time windows. Then the advantages of time-trigged communication and event-triggered communication are combined together. The simulation has proven that this algorithm has a good Performance in improving the real-time of communication, reducing network latency, improving network throughput and efficiency of the network.
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Ti-liang et al. (2010) studied this question.