Search

Driving coherent lattice motion with THz pulses has emerged as a novel pathway for achieving dynamic stabilization of exotic phases that are inaccessible in equilibrium quantum materials. In this work, we present a previously unexplored mechanism for THz excitation of Raman-active phonons in semimetals. We show that intense THz pulses centered at 1 THz can excite the Raman-active $A_{1g}$ phonon mode at 2.9 THz in a bismuth film. We rule out the possibilities of the phonon being excited through conventional anharmonic coupling to other modes or via a THz sum frequency process. Instead, we demonstrate that the THz-driven tunnel ionization provides a plausible means of creating a displacive driving force to initiate the phonon oscillations. Our work highlights a new mechanism for exciting coherent phonons, offering potential for dynamic control over the electronic and structural properties of semimetals and narrow-band semiconductors on ultrafast timescales., Comment: main text + SI, 12 pages, 10 figures

Femtosecond laser ablation is a process that bears both fundamental physics interest and has wide industrial applications. For decades, the lack of probes on the relevant time and length scales has prevented access to the highly nonequilibrium phase decomposition processes triggered by laser excitation. Enabled by the unprecedented intense femtosecond X-ray pulses delivered by an X-ray free electron laser, we report here results of time-resolved small angle scattering measurements on the dynamics of nanoscale phase decomposition in thin gold films upon femtosecond laser-induced ablation. By analyzing the features imprinted onto the small angle diffraction patterns, the transient heterogeneous density distributions within the ablation plume as obtained from molecular dynamics simulations get direct experimental confirmation., Comment: Main manuscript with 32 pages incl. 9 figures + supplementary materials with 16 pages incl. 5 figures

Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots, evaluating the models poses a significant challenge due to the difficulty in accurately measuring their intricate shapes. In this work, we present an optimization based 3D shape registration algorithm for estimation of the backbone shape of slender continuum robots as part of a pho togrammetric measurement. Our approach to estimating the backbones optimally matches a parametric three-dimensional curve to images of the robot. Since we incorporate an iterative closest point algorithm into our method, we do not need prior knowledge of the robots position within the respective images. In our experiments with artificial and real images of a concentric tube continuum robot, we found an average maximum deviation of the reconstruction from simulation data of 0.665 mm and 0.939 mm from manual measurements. These results show that our algorithm is well capable of producing high accuracy positional data from images of continuum robots., Comment: 11 pages, 8 figures, 2 algorithms, journal

Light-matter interaction at the nanoscale in magnetic alloys and heterostructures is a topic of intense research in view of potential applications in high-density magnetic recording. While the element-specific dynamics of electron spins is directly accessible to resonant x-ray pulses with femtosecond time structure, the possible element-specific atomic motion remains largely unexplored. We use ultrafast electron diffraction to probe the temporal evolution of lattice Bragg peaks of FePt nanoparticles embedded in a carbon matrix following excitation by an optical femtosecond laser pulse. The diffraction interference between Fe and Pt sublattices enables us to demonstrate that the Fe mean-square vibration amplitudes are significantly larger that those of Pt as expected from their different atomic mass. Both are found to increase as energy is transferred from the laser-excited electrons to the lattice. Contrary to this intuitive behavior, we observe a laser-induced lattice expansion that is larger for Pt than for Fe atoms during the first picosecond after laser excitation. This effect points to the strain-wave driven lattice expansion with the longitudinal acoustic Pt motion dominating that of Fe., Comment: 21 pages, 5 figures

The nature of the "failed" ferroelectric transition in SrTiO3 has been a long-standing puzzle in condensed matter physics. A compelling explanation is the competition between ferroelectricity and an instability with a mesoscopic modulation of the polarization. These polarization density waves, which should become especially strong near the quantum critical point, break local inversion symmetry and are difficult to probe with conventional x-ray scattering methods. Here we combine a femtosecond x-ray free electron laser (XFEL) with THz coherent control methods to probe inversion symmetry breaking at finite momenta and visualize the instability of the polarization on nanometer lengthscales in SrTiO3. We find polar-acoustic collective modes that are soft particularly at the tens of nanometer lengthscale. These precursor collective excitations provide evidence for the conjectured mesoscopic modulated phase in SrTiO3.

The past decades have witnessed the development of new X-ray beam sources with brightness growing at a rate surpassing Moore's law. Current and upcoming diffraction limited and fully coherent X-ray beam sources, including multi-bend achromat based synchrotron sources and high repetition rate X-ray free electron lasers, puts increasingly stringent requirements on stability and accuracy of X-ray optics systems. Parasitic motion errors at sub-micro radian scale in beam transport and beam conditioning optics can lead to significant loss of coherence and brightness delivered from source to experiment. To address this challenge, we incorporated optical metrology based on interferometry and differential wavefront sensing as part of the X-ray optics motion control system. A prototype X-ray optics system was constructed following the optical layout of a tunable X-ray cavity. On-line interferometric metrology enabled dynamical feedback to a motion control system to track and compensate for motion errors. The system achieved sub-microradian scale performance, as multiple optical elements are synchronously and continuously adjusted. This first proof of principle measurement demonstrated both the potential and necessity of incorporating optical metrology as part of the motion control architecture for large scale X-ray optical systems such as monochromators, delay lines, and in particular, X-ray cavity systems to enable the next generation cavity-based X-ray free electron lasers.

The kagome superconductor CsV$_3$Sb$_5$ hosts a variety of charge density wave (CDW) phases, which play a fundamental role in the formation of other exotic electronic instabilities. However, identifying the precise structure of these CDW phases and their intricate relationships remain the subject of intense debate, due to the lack of static probes that can distinguish the CDW phases with identical spatial periodicity. Here, we unveil the competition between two coexisting $2\times2\times2$ CDWs in CsV$_3$Sb$_5$ harnessing time-resolved X-ray diffraction. By analyzing the light-induced changes in the intensity of CDW superlattice peaks, we demonstrate the presence of both phases, each displaying a significantly different amount of melting upon excitation. The anomalous light-induced sharpening of peak width further shows that the phase that is more resistant to photo-excitation exhibits an increase in domain size at the expense of the other, thereby showcasing a hallmark of phase competition. Our results not only shed light on the interplay between the multiple CDW phases in CsV$_3$Sb$_5$, but also establish a non-equilibrium framework for comprehending complex phase relationships that are challenging to disentangle using static techniques., Comment: 10 pages, 4 figures with supplemental Material

Attosecond photoemission or photoionization delays are a unique probe of the structure and the electronic dynamics of matter. However, spectral congestion and spatial delocalization of valence electron wave functions set fundamental limits to the complexity of systems that can be studied and the information that can be retrieved, respectively. Using attosecond X-ray pulses from LCLS, we demonstrate the key advantages of measuring core-level delays: the photoelectron spectra remain atom-like, the measurements become element specific and the observed scattering dynamics originate from a point-like source. We exploit these unique features to reveal the effects of electronegativity and symmetry on attosecond scattering dynamics by measuring the photoionization delays between N-1s and C-1s core shells of a series of aromatic azabenzene molecules. Remarkably, the delays systematically increase with the number of nitrogen atoms in the molecule and reveal multiple resonances. We identify two previously unknown mechanisms regulating the associated attosecond dynamics, namely the enhanced confinement of the trapped wavefunction with increasing electronegativity of the atoms and the decrease of the coupling strength among the photoemitted partial waves with increasing symmetry. This study demonstrates the unique opportunities opened by measurements of core-level photoionization delays for unravelling attosecond electron dynamics in complex matter.

Identifying multiple rival reaction products and transient species formed during ultrafast photochemical reactions and determining their time-evolving relative populations are key steps towards understanding and predicting photochemical outcomes. Yet, most contemporary ultrafast studies struggle with clearly identifying and quantifying competing molecular structures/species amongst the emerging reaction products. Here, we show that mega-electronvolt ultrafast electron diffraction in combination with ab initio molecular dynamics calculations offer a powerful route to determining time-resolved populations of the various isomeric products formed after UV (266 nm) excitation of the five-membered heterocyclic molecule 2(5H)-thiophenone. This strategy provides experimental validation of the predicted high (~50%) yield of an episulfide isomer containing a strained 3-membered ring within ~1 ps of photoexcitation and highlights the rapidity of interconversion between the rival highly vibrationally excited photoproducts in their ground electronic state.

Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be considered as a continuous (zero) curve between the difficult original problem and a related, comparatively easy one. Then, the solution of the easier one is continuously perturbed along the zero curve towards the sought-after solution of the original problem. We propose a methodology for the systematic construction of such zero curves for discrete-time optimal control problems drawing upon the theory of globally convergent homotopies for nonlinear programs. The proposed framework ensures that for almost every initial guess at a solution there exists a suitable homotopy path that is, in addition, numerically convenient to track. We demonstrate the results by solving optimal path planning problems for a linear system and the nonlinear nonholonomic car (Dubins' vehicle)., Comment: 25 pages, 11 figures, under review

With the introduction of x-ray free electron laser sources around the world, new scientific approaches for visualizing matter at fundamental length and time-scales have become possible. As it relates to magnetism and "magnetic-type" systems, advanced methods are being developed for studying ultrafast magnetic responses on the time-scales at which they occur. We describe three capabilities which have the potential to seed new directions in this area and present original results from each: pump-probe x-ray scattering with low energy excitation, x-ray photon fluctuation spectroscopy, and ultrafast diffuse x-ray scattering. By combining these experimental techniques with advanced modeling together with machine learning, we describe how the combination of these domains allows for a new understanding in the field of magnetism. Finally, we give an outlook for future areas of investigation and the newly developed instruments which will take us there.

Directly imaging structural dynamics involving hydrogen atoms by ultrafast diffraction methods is complicated by their low scattering cross-sections. Here we demonstrate that megaelectronvolt ultrafast electron diffraction is sufficiently sensitive to follow hydrogen dynamics in isolated molecules. In a study of the photodissociation of gas phase ammonia, we simultaneously observe signatures of the nuclear and corresponding electronic structure changes resulting from the dissociation dynamics in the time-dependent diffraction. Both assignments are confirmed by ab initio simulations of the photochemical dynamics and the resulting diffraction observable. While the temporal resolution of the experiment is insufficient to resolve the dissociation in time, our results represent an important step towards the observation of proton dynamics in real space and time.

Light-induced ferroelectricity in quantum paraelectrics is a new avenue of achieving dynamic stabilization of hidden orders in quantum materials. In this work, we explore the possibility of driving transient ferroelectric phase in the quantum paraelectric KTaO$_3$ via intense THz excitation of the soft mode. We observe a long-lived relaxation in the THz-driven second harmonic generation signal (SHG) that lasts up to 20 ps at 10 K which may be attributed to light-induced ferroelectricity. Through analyzing the THz-induced coherent soft-mode oscillation and finding its hardening with fluence well described by a single well potential, we demonstrate intense THz pulses up to 500 kV/cm cannot drive a global ferroelectric phase in KTaO$_3$. Instead, we find the unusual long-lived relaxation of SHG comes from a THz-driven moderate dipolar correlation between the defect-induced local polar structures. We discuss the impact of our findings on current investigations of the THz-induced ferroelectric phase in quantum paraelectrics., Comment: Accepted for publication in Physical Review Letters

This contribution deals with multi-objective model-predictive control (MPC) of a wave energy converter (WEC) device concept, which can harvest energy from sea waves using a dielectric elastomer generator (DEG) power take-off system. We aim to maximise the extracted energy through control while minimising the accumulated damage to the DEG. With reference to system operation in stochastic waves, we first generate ground truth solutions by solving an optimal control problem, and we analyse the MPC performance to determine a prediction horizon that trades off accuracy and efficiency for computation. Fixed weights in the MPC scheme can produce unpredictable costs for variable sea condition, meaning the average rate of cost accumulation can vary vastly. To steer this cost growth, we propose a heuristic to adapt the algorithm by changing the weighting of the cost functions using for fulfilling the long-time goal of accumulating a small enough damage in a fixed time. A simulated case-study is presented in order to evaluate the performance of the proposed MPC framework and the weight-adaptation algorithm. The proposed heuristic proves to be able to limit the amount of accumulated damage while remaining close to (or even improving) the energy yield obtained with a comparable fixed-weight MPC.

We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are constructed from labelled point clouds. Then, the nonlinear and highly nonconvex optimal control problem is solved by introducing a homotopy on the obstacle positions where at one extreme of the parameter the obstacles are removed from the operating space, and at the other extreme they are located at their intended positions. We present a detailed example (with more than a thousand obstacles) from stereotactic neurosurgery with real-world data obtained from labelled MPRI scans., Comment: 8 pages, 7 figures. Paper under review

We report ultrafast x-ray scattering experiments of the quasi-1D charge density wave (CDW) material (TaSe$_4$)$_2$I following photoexcitation with femtosecond infrared laser pulses. From the time-dependent diffraction signal at the CDW sidebands we identify an amplitude mode derived primarily from the transverse acoustic component of the CDW static distortion. The dynamics of this acoustic amplitude mode are described well by a model of a displacive excitation, which we interpret as mediated through a coupling to the optical phonon component associated with the tetramerization of the Ta chains.

Electrocyclic reactions are characterized by the concerted formation and cleavage of both {\sigma} and {\pi} bonds through a cyclic structure. This structure is known as a pericyclic transition state for thermal reactions and a pericyclic minimum in the excited state for photochemical reactions. However, the structure of the pericyclic geometry has yet to be observed experimentally. We use a combination of ultrafast electron diffraction and excited state wavepacket simulations to image structural dynamics through the pericyclic minimum of a photochemical electrocyclic ring-opening reaction in the molecule {\alpha}-terpinene. The structural motion into the pericyclic minimum is dominated by rehybridization of two carbon atoms, which is required for the transformation from two to three conjugated {\pi} bonds. The {\sigma} bond dissociation largely happens after internal conversion from the pericyclic minimum to the electronic ground state. These findings may be transferrable to electrocyclic reactions in general., Comment: Combined manuscript and supplementary information

We investigate the ultrafast electron dynamics triggered by terahertz and optical pulses in thin platinum and gold films by probing their transient optical reflectivity. The response of the platinum film to an intense terahertz pulse is similar to the optically-induced dynamics of both films and can be described by a two-temperature model. Surprisingly, gold can exhibit a much smaller terahertz pulse-induced reflectivity change and with opposite sign. For platinum, we estimate a 20% larger electron-phonon coupling for the terahertz-driven dynamics compared to the optically-induced one, which we ascribe to an additional nonthermal electron-phonon coupling contribution. We explain the remarkable response of gold to terahertz radiation with the field emission of electrons due the Fowler-Nordheim tunneling process, in samples with thickness below the structural percolation threshold where near-field enhancement is possible. Our results provide a fundamental insight into the ultrafast processes relevant to modern electro- and magneto-optical applications., Comment: 5 pages, 4 figures, 1 Table, Supplementary Material

Visualizing ultrafast dynamics at the atomic scale requires time-resolved pump-probe characterization with femtosecond temporal resolution. For single-shot ultrafast electron diffraction (UED) with fully relativistic electron bunch probes, existing techniques are limited by the achievable electron probe bunch length, charge, and timing jitter. We present the first experimental demonstration of pump-probe UED with THz-driven compression and time-stamping that enable UED probes with unprecedented temporal resolution. This technique utilizes two counter-propagating quasi-single-cycle THz pulses generated from two OH-1 organic crystals coupled into an optimized THz compressor structure. Ultrafast dynamics of photoexcited bismuth films show an improved temporal resolution from 178 fs down to 85 fs when the THz-compressed UED probes are used with no time-stamping correction. Furthermore, we use a novel time-stamping technique to reveal transient oscillations in the dynamical response of THz-excited single-crystal gold films previously inaccessible by standard UED, achieving a time-stamped temporal resolution down to 5 fs., Comment: 13 pages, 5 figures

The collective dynamics of topological structures have been of great interest from both fundamental and applied perspectives. For example, the studies of dynamical properties of magnetic vortices and skyrmions not only deepened the understanding of many-body physics but also led to potential applications in data processing and storage. Topological structures constructed from electrical polarization rather than spin have recently been realized in ferroelectric superlattices, promising for ultrafast electric-field control of topological orders. However, little is known about the dynamics of such complex extended nanostructures which in turn underlies their functionalities. Using terahertz-field excitation and femtosecond x-ray diffraction measurements, we observe ultrafast collective polarization dynamics that are unique to polar vortices, with orders of magnitude higher frequencies and smaller lateral size than those of experimentally realized magnetic vortices. A previously unseen soft mode, hereafter referred to as a vortexon, emerges as transient arrays of nanoscale circular patterns of atomic displacements, which reverse their vorticity on picosecond time scales. Its frequency is significantly reduced at a critical strain, indicating a condensation of structural dynamics. First-principles-based atomistic calculations and phase-field modeling reveal the microscopic atomic arrangements and frequencies of the vortex modes. The discovery of subterahertz collective dynamics in polar vortices opens up opportunities for applications of electric-field driven data processing in topological structures with ultrahigh speed and density.

Manipulating the atomic and electronic structure of matter with strong terahertz (THz) fields while probing the response with ultrafast pulses at x-ray free electron lasers (FELs) has offered unique insights into a multitude of physical phenomena in solid state and atomic physics. Recent upgrades of x-ray FEL facilities are pushing to much higher repetition rates, enabling unprecedented signal to noise for pump probe experiments. This requires the development of suitable THz pump sources that are able to deliver intense pulses at compatible repetition rates. Here we present a high power laser-driven THz source based on optical rectification in LiNbO3 using tilted pulse front pumping. Our source is driven by a kilowatt-level Yb:YAG amplifier system operating at 100 kHz repetition rate and employing nonlinear spectral broadening and recompression to achieve sub-100 fs pulses at 1030 nm wavelength. We demonstrate a maximum of 144 mW average THz power (1.44 uJ pulse energy), consisting of single-cycle pulses centered at 0.6 THz with a peak electric field strength exceeding 150 kV/cm. These high field pulses open up a range of possibilities for nonlinear time-resolved experiments with x-ray probing at unprecedented rates., Comment: 17 pages, 10 figures

We demonstrate the electromagnetic performance of waveguides for femtosecond electron beam bunch manipulation and compression with strong-field terahertz (THz) pulses. The compressor structure is a dispersion-free exponentially-tapered parallel-plate waveguide (PPWG) that can focus single-cycle THz pulses along one dimension. We show test results of the tapered PPWG structure using electro-optic sampling (EOS) at the interaction region with peak fields of at least 300 kV/cm given 0.9 uJ of incoming THz energy. We also present a modified shorted design of the tapered PPWG for better beam manipulation and reduced magnetic field as an alternative to a dual-feed approach. As an example, we demonstrate that with 5 uJ of THz energy, the PPWG compresses a 2.5 MeV electron bunch by a compression factor of more than 4 achieving a bunch length of about 18 fs., Comment: 6 pages, 5 figures

We present a comprehensive experimental and numerical study of magnetization dynamics triggered in a thin metallic film by single-cycle terahertz pulses of $\sim20$ MV/m electric field amplitude and $\sim1$ ps duration. The experimental dynamics is probed using the femtosecond magneto-optical Kerr effect (MOKE), and it is reproduced numerically using macrospin simulations. The magnetization dynamics can be decomposed in three distinct processes: a coherent precession of the magnetization around the terahertz magnetic field, an ultrafast demagnetization that suddenly changes the anisotropy of the film, and a uniform precession around the equilibrium effective field that is relaxed on the nanosecond time scale, consistent with a Gilbert damping process. Macrospin simulations quantitatively reproduce the observed dynamics, and allow us to predict that novel nonlinear magnetization dynamics regimes can be attained with existing table-top terahertz sources., Comment: 6 pages, 4 figures

Time-resolved coherent X-ray diffraction is used to measure the spatially resolved magnetization structure within FePt nanoparticles during laser-induced ultrafast demagnetization. The momentum-dependent X-ray magnetic diffraction shows that demagnetization proceeds at different rates at different X-ray momentum transfer. We show that the observed momentum-dependent scattering has the signature of inhomogeneous demagnetization within the nanoparticles, with the demagnetization proceeding more rapidly at the boundary of the nanoparticle. A shell region of reduced magnetization forms and moves inwards at a supermagnonic velocity. Spin-transport calculations show that the shell formation is driven by superdiffusive spin flux mainly leaving the nanoparticle into the surrounding carbon. Quantifying this non-local contribution to the demagnetization allows us to separate it from the local demagnetization., Comment: 6 pages

Complex systems, which consist of a large number of interacting constituents, often exhibit universal behavior near a phase transition. A slowdown of certain dynamical observables is one such recurring feature found in a vast array of contexts. This phenomenon, known as critical slowing down, is well studied mostly in thermodynamic phase transitions. However, it is less understood in highly nonequilibrium settings, where the time it takes to traverse the phase boundary becomes comparable to the timescale of dynamical fluctuations. Using transient optical spectroscopy and femtosecond electron diffraction, we studied a photo-induced transition of a model charge-density-wave (CDW) compound, LaTe$_3$. We observed that it takes the longest time to suppress the order parameter at the threshold photoexcitation density, where the CDW transiently vanishes. This finding can be quantitatively captured by generalizing the time-dependent Landau theory to a system far from equilibrium. The experimental observation and theoretical understanding of dynamical slowing down may offer insight into other general principles behind nonequilibrium phase transitions in many-body systems.

Direct manipulation of the atomic lattice using intense long-wavelength laser pulses has become a viable approach to create new states of matter in complex materials. Conventionally, a high frequency vibrational mode is driven resonantly by a mid-infrared laser pulse and the lattice structure is modified through indirect coupling of this infrared-active phonon to other, lower frequency lattice modulations. Here, we drive the lowest frequency optical phonon in the prototypical transition metal oxide SrTiO3 well into the anharmonic regime with an intense terahertz field. We show that it is possible to transfer energy to higher frequency phonon modes through nonlinear coupling. Our observations are carried out by directly mapping the lattice response to the coherent drive field with femtosecond x-ray pulses, enabling direct visualization of the atomic displacements.