diff --git a/ec/hrpEC/hrpEC-common.cpp b/ec/hrpEC/hrpEC-common.cpp
index a4a3850a9ba..ca2bcb1462b 100644
--- a/ec/hrpEC/hrpEC-common.cpp
+++ b/ec/hrpEC/hrpEC-common.cpp
@@ -147,7 +147,8 @@ namespace RTC
 #ifndef OPENRTM_VERSION_TRUNK
             if (loop % debug_count == 0 && ENABLE_DEBUG_PRINT) {
               gettimeofday(&debug_tv4, NULL);
-              fprintf(stderr, "[hrpEC] Processing time breakdown : waitForNextPeriod %f[ms], warker (onExecute) %f[ms], ExecutionProfile %f[ms], time from prev cicle %f[ms]\n",
+              fprintf(stderr, "[hrpEC] [%d.%6.6d] Processing time breakdown : waitForNextPeriod %f[ms], warker (onExecute) %f[ms], ExecutionProfile %f[ms], time from prev cicle %f[ms]\n",
+                      tv.tv_sec, tv.tv_usec,
                       DELTA_SEC(debug_tv1, debug_tv2)*1e3,
                       DELTA_SEC(debug_tv2, debug_tv3)*1e3,
                       DELTA_SEC(debug_tv3, debug_tv4)*1e3,
diff --git a/rtc/Beeper/Beeper.cpp b/rtc/Beeper/Beeper.cpp
index bcfabd2713a..25c81b676b1 100644
--- a/rtc/Beeper/Beeper.cpp
+++ b/rtc/Beeper/Beeper.cpp
@@ -176,10 +176,13 @@ RTC::ReturnCode_t Beeper::onExecute(RTC::UniqueId ec_id)
     bd._beep_length = m_beepCommand.data[BEEP_INFO_LENGTH];
     // Push beepCommand to buffer
     size_t max_buffer_length = 10;
-    pthread_mutex_lock( &beep_mutex );
-    beep_command_buffer.push_back(bd);
-    while (beep_command_buffer.size() > max_buffer_length) beep_command_buffer.pop_front();
-    pthread_mutex_unlock( &beep_mutex );
+    if (pthread_mutex_trylock( &beep_mutex ) == 0) {
+        beep_command_buffer.push_back(bd);
+        while (beep_command_buffer.size() > max_buffer_length) beep_command_buffer.pop_front();
+        pthread_mutex_unlock( &beep_mutex );
+    } else {
+        std::cerr << "[" << m_profile.instance_name<< "] Mutex trylock failed (loop=" << m_loop << ")" << std::endl;
+    }
     // print
     if (m_debugLevel > 0) {
       if (bd._beep_start)
diff --git a/rtc/RobotHardware/robot.cpp b/rtc/RobotHardware/robot.cpp
index c984d435dd4..c9651c96a1f 100644
--- a/rtc/RobotHardware/robot.cpp
+++ b/rtc/RobotHardware/robot.cpp
@@ -113,6 +113,10 @@ bool robot::loadGain()
         strm >> default_dgain[i];
     }
     strm.close();
+    // Print loaded gain
+    std::cerr << "[RobotHardware] loadGain" << std::endl;
+    for (unsigned int i=0; i<numJoints(); i++) {                                                                                                                                               std::cerr << "[RobotHardware]   " << joint(i)->name << ", pgain = " << default_pgain[i] << ", dgain = " << default_dgain[i] << std::endl;
+    }
     return true;
 }