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CTN 1 generates CAN messages at a constant rate of 37.5 Kbit/s during the whole experiment phase.
CTN 1 and 4 send at a constant rate, while the message generation of CTN 2 is divided into two phases.
Figure 5b shows the output on the CAN bus attached to CIS 0. The output of CTN 1 is constant and not influenced by any erroneous node.
Figure 7b shows the output on CIS 0. The output of CTN 1 is constant and not influenced by any erroneous node.
The experiment lasts 12 s and uses the following routing configuration: CTN 1, 2, and 4 send CAN messages to CTN 0. Concerning the value domain, error-free CTNs send only CAN messages where the CAN ID matches the CTN node number: e.g., CTN 1 is only allowed to send messages with ID 1. CTN 0 is only an receiver and does not produce any CAN messages.
The router forwards only half of the total CAN messages generated by the erroneous node CTN 4 to the CAN bus on CIS 0: Every second message of CTN 4 has the valid CAN ID 4, while the other half has the invalid CAN ID 1 (i.e., only CTN 1 is allowed to send with CAN ID 1).
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The same applies for CTN 3 until its messages get blocked by the erroneous node CTN 2. Again, the router forwards only half of CTN 4's messages.
This experiment contains in total two erroneous CTNs: CTN 4 violates the value domain and CTN 2 violates the time domain.
In the third phase, CTN 2 keeps increasing the send rate and therefore starts to influence CTN 3 on the shared CAN bus. Figure 7 Exp.
CTN 3 is unused in this experiment and does not generate any CAN messages.
Further, CTN 2 sends at first at a constant rate of approximately 8 Kbit/s.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com