public static void sleepNanos (long nanoDuration) throws InterruptedException {
        final long end = System.nanoTime() + nanoDuration;
        long timeLeft = nanoDuration;
        do {
            if (timeLeft > SLEEP_PRECISION)
                Thread.sleep (1);
            else
                if (timeLeft > SPIN_YIELD_PRECISION)
                    Thread.yield();

            timeLeft = end - System.nanoTime();
        } while (timeLeft > 0);
    }