We demonstrate a double-trap system well suited to study cold collisions between trapped ions and trapped atoms. Using Yb$^+$ ions confined in a Paul trap and Yb atoms in a magneto-optical trap, we investigate charge-exchange collisions of several isotopes for collision energies down to 400 neV (5 mK). The measured rate coefficient of $6 times 10^{-10}$ cm$^{3}$s$^{-1}$, constant over four orders of magnitude in collision energy, is in good agreement with that derived from a semiclassical Langevin model for an atomic polarizability of 143 a.u.
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