We report on the discovery of mHz quasi-periodic oscillations (QPOs) from the high mass X-ray binary (HMXB) IGRJ19140+0951, during a 40 ks XMM-Newton observation performed in 201 5, which caught the source in its faintest state ever observed. At the start of the observation, IGRJ19140+0951 was at a low flux of 2$times$10$^{-12}$~erg~cm$^{-2}$~s$^{-1}$ ( 2-10 keV; L$_{rm X}$=3$times$10$^{33}$~erg~s$^{-1}$ at 3.6 kpc), then its emission rised reaching a flux 10 times higher, in a flare-like activity. The investigation of the pow er spectrum reveals the presence of QPOs, detected only in the second part of the observation, with a strong peak at a frequency of 1.46$pm{0.07}$~mHz, together with higher harm onics. The X-ray spectrum is highly absorbed (N$_{rm H}$=$10^{23}$~cm$^{-2}$), well fitted by a power-law with a photon index in the range 1.2-1.8. The re-analysis of a Chandra archival observation shows a modulation at 0.17+/-0.05mHz, very likely the neutron star spin period (although a QPO cannot be excluded). We discuss the origin of the 1.46 mHz QPO in the framework of both disc-fed and wind-fed HMXBs, favouring the quasi-spherical accretion scenario. The low flux observed by XMM-Newton leads to about three orders of magnit ude the source dynamic range, overlapping with the one observed from Supergiant Fast X-ray Transients (SFXTs). However, since its duty cycle is not as low as in SFXTs, IGRJ19140 +0951 is an intermediate system between persistent supergiant HMXBs and SFXTs, suggesting a smooth transition between these two sub-classes.
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