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High Accuracy Software-Based Clock Synchronization Over CAN:

Einspieler, Sascha ; Rathakrishnan, Nirmal ; Prabhakara, Arpitha..
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  7 - p. 4438-4446 , 2022
Link: https://doi.org/10.1109/tsmc.2021.3096597