Accuracy of immunological criteria for identifying virological failure in children on antiretroviral therapy - The IeDEA Southern Africa Collaboration

Objectives  To determine the diagnostic accuracy of World Health Organization (WHO) 2010 and 2006 as well as United States Department of Health and Human Services (DHHS) 2008 definitions of immunological failure for identifying virological failure (VF) in children on antiretroviral therapy (ART). Methods  Analysis of data from children (<16 years at ART initiation) at South African ART sites at which CD4 count/per cent and HIV-RNA monitoring are performed 6-monthly. Incomplete virological suppression (IVS) was defined as failure to achieve ≥1 HIV-RNA ≤400 copies/ml between 6 and 15 months on ART and viral rebound (VR) as confirmed HIV-RNA ≥5000 copies/ml in a child on ART for ≥18 months who had achieved suppression during the first year on treatment. Results  Among 3115 children [median (interquartile range) age 48 (20-84) months at ART initiation] on treatment for ≥1 year, sensitivity of immunological criteria for IVS was 10%, 6% and 26% for WHO 2006, WHO 2010 and DHHS 2008 criteria, respectively. The corresponding positive predictive values (PPV) were 31%, 20% and 20%. Diagnostic accuracy for VR was determined in 2513 children with ≥18 months of follow-up and virological suppression during the first year on ART with sensitivity of 5% (WHO 2006/2010) and 27% (DHHS 2008). PPV results were 42% (WHO 2010), 43% (WHO 2006) and 20% (DHHS 2008). Conclusion  Current immunological criteria are unable to correctly identify children failing ART virologically. Improved access to viral load testing is needed to reliably identify VF in children.

Relative impact of respiratory muscle activity on tidal flow and end expiratory volume in healthy neonates

INTRODUCTION: It has been suggested that infants dynamically regulate their tidal flow and end-expiratory volume level. The interaction between muscle activity, flow and lung volume in spontaneously sleeping neonates is poorly studied, since it requires the assessment of transcutaneous electromyography of respiratory muscles (rEMG) in matched comparison to lung function measurements. METHODS: After determining feasibility and repeatability of rEMG in 20 spontaneously sleeping healthy neonates, we measured the relative impact of intercostal and diaphragmatic EMG activity in direct comparison to the resulting tidal flow and FRC. RESULTS: We found good feasibility, repeatability and correlation of timing indices between rEMG activity and flow. The rEMG amplitude was significantly dependent on the resistive load of the face mask. Diaphragm and intercostal muscle activity commenced prior to the onset of flow and remained active during the expiratory cycle. The relative contribution of intercostal and diaphragmatic activity to flow was variable and changed dynamically. CONCLUSION: Using matched rEMG, air flow and lung volume measurements, we have found good feasibility and repeatability of intercostal and diaphragm rEMG measurements and provide the first quantitative measures of the temporal relationship between muscle activity and flow in spontaneously sleeping healthy neonates. Lung mechanical function is dynamically regulated and adapts on a breath to breath basis. So, non-invasive rEMG measurements alone or in combination with lung function might provide a more comprehensive picture of pulmonary mechanics in future studies. The data describing the timing of EMG and flow may be important for future studies of EMG triggered mechanical ventilation.

Characteristics and comprehensiveness of adult HIV care and treatment programmes in Asia-Pacific, sub-Saharan Africa and the Americas: results of a site assessment conducted by the International epidemiologic Databases to Evaluate AIDS (IeDEA) Collaboration

INTRODUCTION HIV care and treatment programmes worldwide are transforming as they push to deliver universal access to essential prevention, care and treatment services to persons living with HIV and their communities. The characteristics and capacity of these HIV programmes affect patient outcomes and quality of care. Despite the importance of ensuring optimal outcomes, few studies have addressed the capacity of HIV programmes to deliver comprehensive care. We sought to describe such capacity in HIV programmes in seven regions worldwide. METHODS Staff from 128 sites in 41 countries participating in the International epidemiologic Databases to Evaluate AIDS completed a site survey from 2009 to 2010, including sites in the Asia-Pacific region (n=20), Latin America and the Caribbean (n=7), North America (n=7), Central Africa (n=12), East Africa (n=51), Southern Africa (n=16) and West Africa (n=15). We computed a measure of the comprehensiveness of care based on seven World Health Organization-recommended essential HIV services. RESULTS Most sites reported serving urban (61%; region range (rr): 33-100%) and both adult and paediatric populations (77%; rr: 29-96%). Only 45% of HIV clinics that reported treating children had paediatricians on staff. As for the seven essential services, survey respondents reported that CD4+ cell count testing was available to all but one site, while tuberculosis (TB) screening and community outreach services were available in 80 and 72%, respectively. The remaining four essential services - nutritional support (82%), combination antiretroviral therapy adherence support (88%), prevention of mother-to-child transmission (PMTCT) (94%) and other prevention and clinical management services (97%) - were uniformly available. Approximately half (46%) of sites reported offering all seven services. Newer sites and sites in settings with low rankings on the UN Human Development Index (HDI), especially those in the President's Emergency Plan for AIDS Relief focus countries, tended to offer a more comprehensive array of essential services. HIV care programme characteristics and comprehensiveness varied according to the number of years the site had been in operation and the HDI of the site setting, with more recently established clinics in low-HDI settings reporting a more comprehensive array of available services. Survey respondents frequently identified contact tracing of patients, patient outreach, nutritional counselling, onsite viral load testing, universal TB screening and the provision of isoniazid preventive therapy as unavailable services. CONCLUSIONS This study serves as a baseline for on-going monitoring of the evolution of care delivery over time and lays the groundwork for evaluating HIV treatment outcomes in relation to site capacity for comprehensive care.

Monitoring and Switching of First-line Antiretroviral Therapy in sub-Saharan Africa: Collaborative Analysis of Adult Treatment Cohorts.

BACKGROUND HIV-1 viral load (VL) testing is recommended to monitor antiretroviral therapy (ART) but not universally available. We examined monitoring of first-line and switching to second-line ART in sub-Saharan Africa, 2004-2013. METHODS Adult HIV-1 infected patients starting combination ART in 16 countries were included. Switching was defined as a change from a non-nucleoside reverse-transcriptase inhibitor (NNRTI)-based regimen to a protease inhibitor (PI)-based regimen, with a change of ≥1 NRTI. Virological and immunological failures were defined per World Health Organization criteria. We calculated cumulative probabilities of switching and hazard ratios with 95% confidence intervals (CI) comparing routine VL monitoring, targeted VL monitoring, CD4 cell monitoring and clinical monitoring, adjusted for programme and individual characteristics. FINDINGS Of 297,825 eligible patients, 10,352 patients (3·5%) switched during 782,412 person-years of follow-up. Compared to CD4 monitoring hazard ratios for switching were 3·15 (95% CI 2·92-3·40) for routine VL, 1·21 (1·13-1·30) for targeted VL and 0·49 (0·43-0·56) for clinical monitoring. Overall 58.0% of patients with confirmed virological and 19·3% of patients with confirmed immunological failure switched within 2 years. Among patients who switched the percentage with evidence of treatment failure based on a single CD4 or VL measurement ranged from 32·1% with clinical to 84.3% with targeted VL monitoring. Median CD4 counts at switching were 215 cells/µl under routine VL monitoring but lower with other monitoring (114-133 cells/µl). INTERPRETATION Overall few patients switched to second-line ART and switching occurred late in the absence of routine viral load monitoring. Switching was more common and occurred earlier with targeted or routine viral load testing.

On the loading-rate dependence of the Al 7017-T73 fracture-initiation toughness

While static fracture toughness is a widely studied and standardised parameter, its dynamic counterpart has not been exhaustively examined. Therefore, in this research a series of quasi-static and different loading-rate dynamic tests were carried out to determine the evolution of fracture toughness with the velocity of the application of the load on aluminium 7017-T73 alloy. Three-point bending tests of pre-fatigued standard specimens (ASTM E399) at four loading-rates were carried out. The experiments were conducted by employing the subsequent apparatus ordered from lowest to highest load application velocity: a servo-hydraulic universal testing machine, a free-drop tower, a modified Split Hopkinson Pressure Bar and an explosive load testing device. In order to perform the dynamic fracture toughness tests, it was necessary to design and develop some experimental devices. The fracture-initiation toughness of the aluminium 7017-T73 alloy did not exhibit a significant variation for the studied cases. As a conclusion, the research showed that fracture-initiation toughness remained constant regardless of the velocity at which the load was applied.

Refuerzo de vigas de hormigón armado mediante la aplicación de fuerzas exteriores introducidas por predeformación de perfiles metálicos

Una técnica de refuerzo de elementos flectados en general y, en particular, de vigas y forjados de hormigón armado, consiste en la disposición de perfiles metálicos por debajo de los elementos a reforzar y retacados a ellos. En muchos casos este refuerzo se diseña con un planteamiento pasivo, es decir, los perfiles no entran en carga hasta que no se incrementan las acciones sobre el elemento reforzado, o lo hacen sólo ligeramente y de forma cuantitativamente no controlada efectuando el retacado mediante cuñas metálicas. En el presente trabajo se estudia la alternativa del refuerzo de vigas de hormigón armado frente a momentos flectores con un planteamiento activo, introduciendo unas fuerzas (por ejemplo, mediante gatos o barras roscadas) entre el perfil y el elemento a reforzar, y retacando posteriormente el perfil a la viga en los puntos de introducción de las fuerzas, mediante cuñas metálicas, mortero, etc. La propuesta que formulamos en el presente trabajo de investigación para el control de las fuerzas introducidas consiste en la medida de las flechas que se producen en el perfil metálico al hacerlo reaccionar contra la viga. Esto permite el empleo de procedimientos sencillos para la predeformación del perfil que no dispongan de dispositivos de medida de la carga introducida, o bien controlar la veracidad de las medidas de las fuerzas que dan tales dispositivos. La gran fiabilidad que tiene el cálculo de flechas en jácenas metálicas hace que con este procedimiento se puedan conocer con gran precisión las fuerzas introducidas. Las medidas de las flechas se pueden llevar a cabo mediante los procedimientos de instrumentación habituales en pruebas de carga, con una precisión más que suficiente para conocer y controlar con fiabilidad el valor de las fuerzas que el perfil ejerce sobre la viga. Los perfiles necesarios para el refuerzo con esta técnica son netamente inferiores a los que se precisarían con el planteamiento pasivo antes indicado. En el trabajo de investigación se recoge un estudio sobre el número, posición y valor de las fuerzas de refuerzo a introducir, en función de la carga para la que se diseña el refuerzo y la capacidad resistente del elemento a reforzar, y se analizan los valores máximos que pueden tener dichas fuerzas, en función de la capacidad de la pieza frente a momentos de signo contrario a los debidos a las cargas gravitatorias. A continuación se analiza la interacción viga-perfil al incrementarse las cargas sobre la viga desde el instante de la ejecución del refuerzo, interacción que hace variar el valor de las fuerzas que el perfil ejerce sobre la viga. Esta variación permite contar con un incremento en las fuerzas de refuerzo si, con las cargas permanentes presentes al reforzar, no podemos introducirlas inicialmente con el valor necesario, o si se producen pérdidas en las propias fuerzas. Este es uno de los criterios a la hora de seleccionar las características del perfil. Por el contrario, dicha variación puede suponer que en algunos puntos a lo largo del vano se supere la capacidad a flexión frente a momentos de signo contrario a los debidos a las cargas gravitatorias, lo que también debe ser tenido en cuenta. Seguidamente se analizan diferentes aspectos que producen una variación en el valor de las fuerzas de refuerzo, como son las deformaciones diferidas del hormigón (fluencia y retracción), los gradientes de temperatura en la pieza, o la actuación de sobrecargas en los vanos adyacentes. Se concluye los efectos de estos fenómenos, que en ocasiones tienen gran influencia, pueden ser cuantificados por el proyectista, recogiéndose propuestas sencillas para su consideración en casos habituales. Posteriormente recogemos una propuesta de metodología de comprobación del refuerzo, en cuanto a cómo considerar la fisuración y evolución del módulo de deformación de la viga, la introducción de la seguridad, la influencia de las tolerancias de laminación en el perfil sobre el valor calculado de las flechas necesarias en el perfil para introducir las fuerzas iniciales proyectadas, o la situación accidental de fuego, entre otros aspectos. Por último, se exponen las conclusiones más relevantes de la investigación realizada, y se proponen futuras líneas de investigación. One technique for strengthening flexural members in general, and reinforced concrete beams and slabs in particular, entails caulking the underside of these members with steel shapes. This sort of strengthening is often designed from a passive approach; i.e., until the load is increased, the shapes are either not loaded or are only slightly loaded to some unquantified extent by caulking with steel shims. The present study explored the possibility of actively strengthening the capacity of reinforced concrete beams to resist bending moments by applying forces (with jacks or threaded bars, for instance) between the shape and the member to be strengthened. The shape is subsequently caulked under the beam at the points where the forces are applied with steel shims, mortar or similar. The proposal put forward in the present study to monitor the forces applied consists in measuring the deflection on the steel shape as it reacts against the beam. With this technique, the shape can be pre-strained using simple procedures that do not call for devices to measure the force applied, or the accurancy of the respective measurements can be verified. As deflection calculations in steel girders are extremely reliable, the forces applied with this procedure can be very precisely determined. Standard instrumental procedures for load testing can be used to measure deflection with more than sufficient precision to reliably determine and monitor the value of the forces exerted on the beam by the shape. Moreover, the shapes required to strengthen members with this technique are substantially smaller than the ones needed in the aforementioned passive approach. This study addressed the number, position and value of the strengthening forces to be applied in terms of the load for which strengthening was designed and the bearing capacity of the member to be strengthened. The maximum value of such forces was also analysed as a function of the capacity of the member to resist counter-gravity moments. An analysis was then conducted of beam-shape interaction when the load on the beam raises since the instant that strengthening is applied, interaction that alters the forces applied to the beam by the shape. This variation can provide an increment in the forces if we cannot introduce them initially with the value calculated as necessary because they were limited by the permanent loads existing when strengthening, or if losses occur in the forces themselves. This is one of the criteria for defining shape specifications. Conversely, such variation may cause the forces to exceed beam counter-gravity bending strength at some points in the span, a development that must also be taken into consideration. Other factors inducing variations in the strengthening force values were then analysed, including deferred concrete strain (creep and shrinkage), temperature gradients in the member and the live loads acting on adjacent spans. The inference drawn was that these developments, which may on occasion have a heavy impact, can be quantified by the design engineer, particularly in ordinary situations, for which simple procedures are proposed. Methodology is likewise proposed for verifying strength in terms of how to appraise beam's cracking and variations in modulus of deformation; safety concerns; the effect of shape lamination tolerance on the calculated deflection necessary for the shape to apply the design forces; and fire-induced situations, among others. Lastly, the most prominent conclusions are discussed and future lines of research are suggested.

A resistance emulation approach to optimize the wave energy harvesting for a direct drive point absorber

In general, a major challenge for the exploitation of renewable energies is to improve their efficiency. In electricity generation from the energy of ocean waves, not unlike other technologies, the converter must be optimized to make the energy harvesting economically feasible. This paper proposes a passive tuning control strategy of a point absorber in which the power captured is maximized by controlling the electromagnetic force of the generator with a resistance emulation approach. The proposed strategy consists of mapping the optimal values for regular waves and applying them to irregular waves. This strategy is tested in a wave energy converter in which the generator is connected to a boost rectifier converter whose controller is designed to emulate a resistance. The power electronics system implemented is validated by comparing its performance with the case in which the generator is directly connected to a resistive load. The simulation results show the effectiveness of the proposed strategy as the maximum captured power is concentrated around the optimal values previously calculated and with the same behavior for both excitations.

Evaluation of the PV cell operation temperature in the process of fast switching to open-circuit mode

A procedure for measuring the overheating temperature (ΔT ) of a p-n junction area in the structure of photovoltaic (PV) cells converting laser or solar radiations relative to the ambient temperature has been proposed for the conditions of connecting to an electric load. The basis of the procedure is the measurement of the open-circuit voltage (VO C ) during the initial time period after the fast disconnection of the external resistive load. The simultaneous temperature control on an external heated part of a PV module gives the means for determining the value of VO C at ambient temperature. Comparing it with that measured after switching OFF the load makes the calculation of ΔT possible. Calibration data on the VO C = f(T ) dependences for single-junction AlGaAs/GaAs and triple-junction InGaP/GaAs/Ge PV cells are presented. The temperature dynamics in the PV cells has been determined under flash illumination and during fast commutation of the load. Temperature measurements were taken in two cases: converting continuous laser power by single-junction cells and converting solar power by triple-junction cells operating in the concentrator modules.

Avaliação de fatores virológicos associados ao desenvolvimento de carcinoma hepatocelular (CHC) em pacientes com hepatite B crônica

O objetivo principal deste estudo foi avaliar fatores virais associados com a evolução para o carcinoma hepatocelular (CHC) em pacientes com hepatite B crônica. Para tanto caracterizamos os subgenótipos do HBV, investigamos a ocorrência de mutações nos genes pré-core/core do HBV associadas à presença de CHC avaliamos por análise filogenética a associação de linhagens virais com a ocorrência de CHC e por fim a associação de outros fatores de risco com o desenvolvimento de CHC. Foram incluídos 119 amostras de soro de pacientes com infecção crônica pelo HBV, destas amostras 60 pertencem ao grupo 1 (CHC), que são pacientes com diagnóstico confirmado de carcinoma hepatocelular e 59 amostras pertencem ao grupo 2 (sem CHC) que são pacientes com hepatite crônica sem detecção prévia de nódulos hepáticos. Foram obtidas informações acerca da idade, sexo e naturalidade. Além disso, os pacientes responderam a um questionário sobre fatores de riscos associados ao desenvolvimento de CHC. Foram realizados exames bioquímicos, sorológicos, determinação da carga viral, e amplificação por nested PCR e sequenciamento das regiões S/polimerase e pré-core/core do genoma viral para posterior caracterização dos genótipos/subgenótipos do HBV e pesquisa de mutações associadas com evolução da doença hepática. Em relação à idade e sexo não houve grande variação entre os grupos. Quanto à naturalidade a maioria era procedente da região sudeste, seguido pela região nordeste; e por fim seis pacientes eram procedentes de outros países. Com base no sobrenome dos pacientes avaliou-se também a frequência de etnia oriental na casuística estudada, que foi similar nos 2 grupos. O perfil sorológico HBeAg negativo foi o mais frequente nos dois grupos de pacientes, assim como níveis de carga viral abaixo de 2.000 UI/mL. Em relação aos exames bioquímicos foram observadas diferenças estatisticamente significantes nos níveis séricos de AFP (p= 0,0013), FA (p= 0,0003) e GGT (p= 0,005). Dentre os fatores de risco analisados neste estudo, o consumo de amendoim foi o único que apresentou significância estatística (p= 0,003). A região S/pol foi amplificada e sequenciada com sucesso em 58 amostras (28 do grupo 1 e 30 do grupo 2). Entre as 58 amostras analisadas 4 genótipos e 8 subgenótipos do HBV foram identificados, sendo o subgenótipo A1 o mais frequente nos dois grupos. Não se observou diferença estatisticamente significante na distribuição dos subgenótipos entre os dois grupos de pacientes. Na topologia da árvore filogenética construída com sequências do HBV isoladas dos pacientes incluídos neste estudo e sequências disponíveis no GenBank não se observou padrões de agrupamento associados com o perfil clinico do paciente (com e sem CHC). Foram obtidas sequências de boa qualidade da região précore/ core em 44 amostras, sendo 20 amostras do grupo 1 e 24 do grupo 2. Diversas das mutações investigadas foram identificadas na região précore/ core, as quais foram avaliadas estatisticamente para verificar a existência de diferença na frequência das mesmas entre os grupos de pacientes estudados. Entre as mutações identificadas se destacaram com significância estatística as seguintes mutações: T1768A (p= 0,006), a combinação das mutações C1766T + T1768A (p= 0,043) e G1888H (p= 0,05). Na análise de regressão logística simples foi possível identificar que a chance de um paciente do grupo 2 desenvolver CHC aumenta 14,7 vezes na presença de infecção por cepas do HBV com a mutação T1768A, enquanto que a infecção com cepas do HBV que albergam a mutação G1888H reduz tal chance 2,5 vezes

Relations between physiologic parameters and pulse transit time during loaded breathing

Pulse transit time (PTT) is a non-invasive measure, defined as time taken for the pulse pressure waves to travel from the R-wave of electrocardiogram to a selected peripheral site. Baseline PTT value is known to be influenced by physiologic variables like heart rate (HR), blood pressure (BP) and arterial compliance (AC). However, few quantitative data are available describing the factors which can influence PTT measurements in a child during breathing. The aim of this study was to investigate the effects of changes in breathing efforts on PTT baseline and fluctuations. Two different inspiratory resistive loading (IRL) devices were used to simulate loaded breathing in order to induce these effects. It is known that HR can influence the normative PTT value however the effect of HR variability (HRV) is not well-studied. Two groups of 3 healthy children ( 0.05) HR changes during all test activities. Results showed that HRV is not the sole contributor to PTT variations and suggest that changes in other physiologic parameters are also equally important. Hence, monitoring PTT measurement can be indicative of these associated changes during tidal or increased breathing efforts in healthy children.

Análisis y simulación de un rectificador trifásico controlado Active Front End (AFE)

Este artículo presenta un resultado de investigación financiado con recursos propios en el que se expone un modelo en espacio de estados de un rectificador trifásico controlado active front end. Utilizando este modelo se deriva una ley de control orientado al voltaje (VOC), enfocado en el comportamiento como carga resistiva, factor de potencia unitario, el cual es probado mediante simulación usando el Toolbox SimPowerSystem en Simulink de Matlab®.

A low frequency MEMS energy harvester scavenging energy from magnetic field surrounding an AC current-carrying wire

This paper reports on a low frequency piezoelectric energy harvester that scavenges energy from a wire carrying an AC current. The harvester is described, fabricated and characterized. The device consists of a silicon cantilever with integrated piezoelectric capacitor and proof-mass that incorporates a permanent magnet. When brought close to an AC current carrying wire, the magnet couples to the AC magnetic field from a wire, causing the cantilever to vibrate and generate power. The measured average power dissipated across an optimal resistive load was 1.5 μW. This was obtained by exciting the device into mechanical resonance using the electro-magnetic field from the 2 A source current. The measurements also reveal that the device has a nonlinear response that is due to a spring hardening mechanism.

Identification of human brain regions underlying responses to resistive inspiratory loading with functional magnetic resonance imaging.

Compensatory ventilatory responses to increased inspiratory loading are essential for adequate breathing regulation in a number of pulmonary diseases; however, the human brain sites mediating such responses are unknown. Midsagittal and axial images were acquired in 11 healthy volunteers during unloaded and loaded (30 cmH2O; 1 cmH2O = 98 Pa) inspiratory breathing, by using functional magnetic resonance imaging (fMRI) strategies (1.5-tesla MR; repetition time, 72 msec; echo time, 45 msec; flip angle, 30 degrees; field of view, 26 cm; slice thickness, 5 mm; number of excitations, 1; matrix, 128 x 256). Digital image subtractions and region of interest analyses revealed significantly increased fMRI signal intensity in discrete areas of the ventral and dorsal pons, interpeduncular nucleus, basal forebrain, putamen, and cerebellar regions. Upon load withdrawal, certain regions displayed a rapid fMRI signal off-transient, while in others, a slower fMRI signal decay emerged. Sustained loading elicited slow decreases in fMRI signal across activated regions, while second application of an identical load resulted in smaller signal increases compared to initial signal responses (P < 0.001). A moderate inspiratory load is associated with consistent regional activation of discrete brain locations; certain of these regions have been implicated in mediation of loaded breathing in animal models. We speculate that temporal changes in fMRI signal may indicate respiratory after-discharge and/or habituation phenomena.

A portable load cell for in-situ ore impact breakage testing

This paper discusses the design and characterisation of a short, and hence portable impact load cell for in-situ quantification of ore breakage properties under impact loading conditions. Much literature has been published in the past two decades about impact load cells for ore breakage testing. It has been conclusively shown that such machines yield significant quantitative energy-fragmentation information about industrial ores. However, documented load cells are all laboratory systems that are not adapted for in-situ testing due to their dimensions and operating requirements. The authors report on a new portable impact load cell designed specifically for in-situ testing. The load cell is 1.5 m in height and weighs 30 kg. Its physical and operating characteristics are detailed in the paper. This includes physical dimensions, calibration and signal deconvolution. Emphasis is placed on the deconvolution issue, which is significant for such a short load cell. Finally, it is conclusively shown that the short load cell is quantitatively as accurate as its larger laboratory analogues. (C) 2062 Elsevier Science B.V. All rights reserved.

Adaptive recursive control of a soil testing load frame

Recursive Learning Control (RLC) has the potential to significantly reduce the tracking error in many repetitive trajectory applications. This paper presents an application of RLC to a soil testing load frame where non-adaptive techniques struggle with the highly nonlinear nature of soil. The main purpose of the controller is to apply a sinusoidal force reference trajectory on a soil sample with a high degree of accuracy and repeatability. The controller uses a feedforward control structure, recursive least squares adaptation algorithm and RLC to compensate for periodic errors. Tracking error is reduced and stability is maintained across various soil sample responses.