@ARTICLE {7592,
author={L. Almeida and P. Pedreiras and J. Fonseca},
doi={10.1109/TIE.2002.804967},
journal={IEEE Transactions on Industrial Electronics},
title={The FTT-CAN Protocol: Why and How},
year={2002},
month={December},
volume={49},
number={6},
pages={1189-1201},
ISSN={0278-0046}
}