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            <title xml:lang="en">Traversal time for weakly synchronized CAN bus</title>
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                <term xml:lang="en">CAN BUS</term>
                <term xml:lang="en">NETWORK CALCULUS</term>
                <term xml:lang="en">WORST-CASE TRAVERSAL TIMES</term>
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              <p>Scheduling frames with offsets has been shown in the literature to be very beneficial for reducing response times in real-time networks because it allows the workload to be better spread over time and thus to reduce peaks of load. Maintaining a global synchronization amongst the stations induces substantial overhead and complexity in networks not providing a global time service such as CAN. Indeed, on CAN, no global clock is implemented in practice and each station possesses its own local clock. Without a global clock, the de-synchronization between the streams of frames created by offsets remains local to each station. The first contribution of this work is to show that important gains with respect to the communication latencies, around 40% in our experiments, can be achieved if we implement bounded clock desynchronization, also refered to as bounded phases, between the stations. The second contribution of this work is to provide a set of network-calculus based timing analyses to handle systems with bounded phases and compare their performances.</p>
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              <p>Il a été montré dans la littérature que l'ordonnancement des messages avec des offsets est très interressant en termes de diminution du temps de réponse puisqu'il permet de répartir le traffic au cours du temps et ainsi d'éviter les pics de charge. Le maintien d'une synchronisation globale parmi les stations induit des couts importants dans les réseaux ne fournissant pas un service de de temps global tels que CAN. En effet, sur le bus CAN, aucune horloge globale n'est mise en œuvre en pratique et chaque station possède sa propre horloge locale. Sans une horloge commune, l’ordonnancement entre les flux créé par des offsets reste local à chaque station. La première contribution de ce travail est de montrer que des gains importants par rapport aux temps de traversé, autour de 40% dans nos expériences, peut être réalisé que si nous mettons en œuvre une borne sur la différence entre les horloge locale, ou phases bornées entre les stations. La seconde contribution de ce travail est de fournir un ensemble de méthodes basées sur le calcul réseau pour gérer de tels systèmes et de comparer leurs performances.</p>
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