diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index 819cbcd3e1a2a2b2b022fb707cc458d9c7133949..dfb70c99cd1b49e448ba730be0d856110a04fd47 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -30,6 +30,7 @@
 #include <VirtualRobot/VirtualRobotException.h>
 #include <VirtualRobot/RuntimeEnvironment.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
 
 #include <algorithm>
 
@@ -91,8 +92,8 @@ void KinematicUnitSimulation::onExitKinematicUnit()
 void KinematicUnitSimulation::simulationFunction()
 {
     // the time it took until this method was called again
-    double timeDeltaInSeconds = (IceUtil::Time::now() - lastExecutionTime).toMilliSecondsDouble() / 1000.0;
-    lastExecutionTime = IceUtil::Time::now();
+    double timeDeltaInSeconds = (TimeUtil::getTime() - lastExecutionTime).toMilliSecondsDouble() / 1000.0;
+    lastExecutionTime = TimeUtil::getTime();
     // name value maps for reporting
     NameValueMap actualJointAngles;
     NameValueMap actualJointVelocities;