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Here, we report our newly built table-top ultrafast extreme ultraviolet (EUV) photoemission electron microscope. The coherent ultrafast EUV light is served by a single order harmonic, which is generated by the interaction between the intense 800-nm femtosecond laser and noble gases in the hollow core fiber. The required order of the harmonic is selected out by a single grating in the off-plane mount and focused on the sample in the ultrahigh vacuum chamber of the photoemission electron microscope. Using metal gold and copper samples, the spatial resolution is calibrated to be better than 50 nm and the energy resolution is calibrated to be better than 300 meV. This microscope provides an advanced tool for studying electron dynamics covering the full Brillouin zone of solid materials with ultrahigh time, space, and energy resolution.

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In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is based on the image-based visual servoing (IBVS) dynamic computed torque control and couples the force control feedback in parallel. Simulations are performed on a collaborative Delta robot and two types of image features are tested to determine which one is better for this parallel IBVS/force controller. The results show the efficiency of this controller.

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