I. Introduction
Mode-locked lasers are the primary source of ultrashort optical pulses, with durations ranging from picoseconds down to a few femtoseconds. These ultrashort pulses find a wide range of uses, including time resolved spectroscopy [1], multiphoton imaging [2], high-field physics [3] and laser machining [4]. In addition, mode-locked lasers do not produce isolated pulses, but phase coherent trains of them, enabling the field of femtosecond frequency combs [5]. The most successful mode-locked laser technologies are based on solid-state gain media, such as Ti:sapphire, or fiber lasers using rare-earth dopants such as erbium or ytterbium. In both cases, the gain medium is pumped by a diode laser, either directly in the case of a fiber laser or indirectly for Ti:sapphire.