Terahertz to far-infrared emission by two-color, ultrashort optical pulses interacting with underdense helium gases at ultrahigh intensities (>10^{19} W/cm^{2}) is investigated by means of 3D particle-in-cell simulations. The terahertz field is shown to be produced by two mechanisms occurring sequentially, namely, photoionization-induced radiation (PIR) by the two-color pulse, and coherent transition radiation (CTR) by the wakefield-accelerated electrons escaping the plasma. We exhibit laser-plasma parameters for which CTR proves to be the dominant process, providing terahertz bursts with field strength as high as 100 GV/m and energy in excess of 10 mJ. Analytical models are developed for both the PIR and CTR processes, which correctly reproduce the simulation data.
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