diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java
index 2459122d..8c9f0db5 100644
--- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java
+++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java
@@ -333,8 +333,7 @@ public String toString(){
 	 */
 	public DhInverseSolver getInverseSolver() {
 		if(is==null){
-			Log.error(new RuntimeException("No Solver defined!"));
-			return new DhInverseSolver() {
+			is=new DhInverseSolver() {
 				
 				@Override
 				public double[] inverseKinematics(TransformNR target,
diff --git a/src/main/java/com/neuronrobotics/sdk/common/ByteList.java b/src/main/java/com/neuronrobotics/sdk/common/ByteList.java
index 6c02e26e..a11da0e0 100644
--- a/src/main/java/com/neuronrobotics/sdk/common/ByteList.java
+++ b/src/main/java/com/neuronrobotics/sdk/common/ByteList.java
@@ -421,7 +421,7 @@ public  synchronized  byte[] getBytes(int start, int len) {
 		
 		if(isUseStaticBuffer()){
 			int tmpRead = staticBufferReadPointer;
-			//Allign the start pointer
+			//Align the start pointer
 			if(start != 0){
 				for(int i=0;i<start;i++){
 					tmpRead++;
diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java
index 7d919b19..f0d89d84 100644
--- a/src/main/java/com/neuronrobotics/sdk/common/Log.java
+++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java
@@ -475,11 +475,7 @@ public void write(int b) throws IOException {
 			System.setErr(new PrintStream(streamErr));
 			setOutStream(new PrintStream(streamErr));
 			while (instance.log!=null) {
-				try {
-					Thread.sleep(149);
-				} catch (InterruptedException e) {
-					return;
-				}
+				ThreadUtil.wait(150);
 				if (instance.incomingOut.size() > 0)
 					try {
 						String text = instance.incomingOut.asString();