diff --git a/.gitignore b/.gitignore
index 5f94d10..479fb67 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,4 +17,4 @@ test/test
 leak.log
 leak.log.core.*
 gdb.out
-
+html/*
diff --git a/include/Common.hpp b/include/Common.hpp
index 2dd85c2..4d10e45 100644
--- a/include/Common.hpp
+++ b/include/Common.hpp
@@ -13,11 +13,20 @@
 #include <stdexcept> // runtime_error
 #include <sstream> // ostringstream
 
-inline timespec addSecTotimespec(const long int & sec)
+inline timespec addTotimespec(const long int & sec, const long int & nsec)
 {
+  const int nano = 1000000000;  // 10^9
   timespec abs_time;
   clock_gettime ( CLOCK_REALTIME, &abs_time );
-  abs_time.tv_sec += sec;
+  long int nsecSum( abs_time.tv_nsec + nsec );
+
+  if ( nsecSum >= nano ) {
+    abs_time.tv_sec += sec + nsecSum / nano;
+    abs_time.tv_nsec = nsecSum % nano;
+  } else {
+    abs_time.tv_sec += sec;
+    abs_time.tv_nsec += nsec;
+  }
   return abs_time;
 }
 
diff --git a/include/ConditionVariable.hpp b/include/ConditionVariable.hpp
index 1f9ae7b..b8f05c7 100644
--- a/include/ConditionVariable.hpp
+++ b/include/ConditionVariable.hpp
@@ -12,7 +12,7 @@ public:
   ConditionVariable(Mutex& mutex);
   ~ConditionVariable();
 
-  int wait(const long int intervalSec = 0);
+  int wait(const long int intervalSec = 0, const long int intervaNSec = 0);
   int signal();
   int broadcast();
 
diff --git a/include/Mutex.hpp b/include/Mutex.hpp
index fa294d5..7b3a2de 100644
--- a/include/Mutex.hpp
+++ b/include/Mutex.hpp
@@ -27,7 +27,7 @@ public:
    * If currently locked, the call shall return immediately.
    * @returns Zero if a lock acquired. Otherwise, an error number.
    */
-  int tryLock(const long int intervalSec = 0);
+  int tryLock(const long int intervalSec = 0, const long int intervalNSec = 0);
 
   pthread_mutex_t* getPThreadMutex();
 
diff --git a/include/Semaphore.hpp b/include/Semaphore.hpp
index cf390d0..fe36a88 100644
--- a/include/Semaphore.hpp
+++ b/include/Semaphore.hpp
@@ -13,7 +13,7 @@ public:
   Semaphore( int maxCount = 1 );
   ~Semaphore( void );
 
-  bool lock( const long int intervalSec = 0 );
+  bool lock( const long int intervalSec = 0, const long int intervalNSec = 0 );
   bool unLock( void );
   int getCount( void ) const;
 
diff --git a/include/Thread.hpp b/include/Thread.hpp
index 2c88df1..f322f59 100644
--- a/include/Thread.hpp
+++ b/include/Thread.hpp
@@ -8,7 +8,7 @@ class Thread
 {
 public:
 
-  Thread();
+  Thread( const bool softRealTime = false );
   virtual ~Thread();
 
   void start();
@@ -28,6 +28,7 @@ protected:
 private:
 
   pthread_t m_threadHandler;
+  bool m_softRealTime;
 };
 
 
diff --git a/src/ConditionVariable.cpp b/src/ConditionVariable.cpp
index 63abbad..71f56a9 100644
--- a/src/ConditionVariable.cpp
+++ b/src/ConditionVariable.cpp
@@ -19,14 +19,14 @@ ConditionVariable::~ConditionVariable()
 }
 
 
-int ConditionVariable::wait(const long int intervalSec)
+int ConditionVariable::wait(const long int intervalSec, const long int intervalNSec)
 {
   TRACE;
-  if ( intervalSec == 0 ) {
+  if ( intervalSec == 0 and intervalNSec == 0 ) {
     return pthread_cond_wait( &m_condVar,
                                m_mutex.getPThreadMutex() );
   } else {
-    timespec tspec = addSecTotimespec(intervalSec);
+    timespec tspec = addTotimespec( intervalSec, intervalNSec );
     return pthread_cond_timedwait( &m_condVar,
                                     m_mutex.getPThreadMutex(),
                                    &tspec);
diff --git a/src/Mutex.cpp b/src/Mutex.cpp
index e5a6147..039d811 100644
--- a/src/Mutex.cpp
+++ b/src/Mutex.cpp
@@ -40,13 +40,13 @@ int Mutex::unlock()
 }
 
 
-int Mutex::tryLock(const long int intervalSec)
+int Mutex::tryLock(const long int intervalSec, const long int intervalNSec)
 {
   TRACE;
-  if ( intervalSec == 0 ) {
+  if ( intervalSec == 0 and intervalNSec == 0 ) {
     return pthread_mutex_trylock ( &m_mutex );
   } else {
-    timespec tspec = addSecTotimespec( intervalSec );
+    timespec tspec = addTotimespec( intervalSec, intervalSec );
     return pthread_mutex_timedlock ( &m_mutex, &tspec );
   }
 }
diff --git a/src/Semaphore.cpp b/src/Semaphore.cpp
index 586438c..d085dfa 100644
--- a/src/Semaphore.cpp
+++ b/src/Semaphore.cpp
@@ -20,12 +20,12 @@ Semaphore::~Semaphore( void )
 }
 
 
-bool Semaphore::lock( const long int intervalSec )
+bool Semaphore::lock( const long int intervalSec, const long int intervalNSec )
 {
   TRACE;
   ScopedLock sl(m_mutex);
   if ( m_count == 0 ) {
-    if ( m_condVar.wait(intervalSec) != 0 ) {
+    if ( m_condVar.wait( intervalSec, intervalNSec ) != 0 ) {
       return false;
     }
   }
diff --git a/src/Thread.cpp b/src/Thread.cpp
index e7ccf1f..78c916f 100644
--- a/src/Thread.cpp
+++ b/src/Thread.cpp
@@ -3,12 +3,15 @@
 
 #include <signal.h>
 #include <iostream>
+#include <exception> // std::runtime_error
 
+#include <sched.h> // sched_param
 
-Thread::Thread()
+
+Thread::Thread(const bool softRealTime)
   : m_isRunning(false)
   , m_threadHandler( 0 )
-
+  , m_softRealTime(softRealTime)
 {
   TRACE;
 }
@@ -24,7 +27,24 @@ void Thread::start()
 {
   TRACE;
   m_isRunning = true;
-  pthread_create( &m_threadHandler, NULL, threadStarter, ( void* )this );
+
+  if ( m_softRealTime ) {
+    pthread_attr_t attr;
+    sched_param param;
+
+    pthread_attr_init(&attr);
+    if ( pthread_attr_setschedpolicy( &attr, SCHED_RR ) != 0 ) {
+      throw std::runtime_error( "Coudn't set thread scheduler." );
+    }
+    param.sched_priority = 50;
+    if ( pthread_attr_setschedparam( &attr, &param ) != 0 ) {
+      throw std::runtime_error( "Coudn't set thread priority.");
+    }
+
+    pthread_create( &m_threadHandler, &attr, threadStarter, ( void* )this );
+  } else {
+    pthread_create( &m_threadHandler, 0, threadStarter, ( void* )this );
+  }
 }
 
 
diff --git a/src/TimerThread.cpp b/src/TimerThread.cpp
index 8e155e4..c1edc1c 100644
--- a/src/TimerThread.cpp
+++ b/src/TimerThread.cpp
@@ -4,11 +4,13 @@
 #include "ScopedLock.hpp"
 
 #include <errno.h> // ETIMEDOUT
+#include <pthread.h> // pthread_attr_t, sched_param
 
 
 
 TimerThread::TimerThread()
-  : m_mutex()
+  : Thread(true)
+  , m_mutex()
   , m_condVar(m_mutex)
   , m_users()
 {