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The original topology-transparent TDMA protocol does not perform effectively because of the collisions. In this paper a dynamic topology-transparent TDMA protocol with a novel collision-free algorithm for mobile ad hoc networks is presented. This method avoids collisions utilized the active information of two-hop nodes and dynamically adapts time-slot assignment to the changes of topology and load. This new method is a very important complement of the original algorithm and outperforms it remarkably, especially when the topology changes, node has more neighbors or traffic load is heavy.