prompt_front: Now, answer the following question based on the text below, only give me the answer and do not output any other words.

Question: What is the relationship between the maximum velocity and the amplitude of the blob or depletion?

Read the following text and answer briefly.

Context 1: \section{Model equations} \label{sec:equations}

In drift-fluid models the continuity equation
\begin{align}
 \frac{\partial n}{\partial t} + \nabla\cdot\left( n \vec u_E  \right) &= 0 \label{eq:generala} 
\end{align}
describes the dynamics of the electron density $n$  Here
$\vec u_E := (\hat{\vec b} \times \nabla \phi)/B$ gives the electric drift
velocity in a magnetic field $\vec B := B \hat{\vec b}$ and an electric
potential $\phi$  We neglect contributions of the diamagnetic drift~\cite{Kube2016} 




Equation~\eqref{eq:generala} is closed by invoking quasineutrality, i e  the divergence of the ion polarization, 
the electron diamagnetic and the gravitational drift currents must vanish
\begin{align}
  \nabla\cdot\left( \frac{n}{\Omega} \left( \frac{\partial}{\partial t} 
  + \vec u_E \cdot\nabla  \right)\frac{\nabla_\perp \phi}{B}  + n\vec u_d - n\vec u_g\right) &=0
    
 
 
  \label{eq:generalb}
\end{align}
Here we denote 
$\nabla_\perp\phi/B := - \hat{\vec b} \times \vec u_E$, 
the electron diamagnetic drift
$\vec u_d := - T_e(\hat{\vec b} \times\nabla n ) /enB$
with the electron temperature $T_e$,
the ion gravitational drift velocity  
$\vec u_g := m_i \hat{\vec b} \times \vec g /B$
with ion mass $m_i$, and the ion gyro-frequency
$\Omega := eB/m_i$ 

Combining Eq ~\eqref{eq:generalb} with Eq ~\eqref{eq:generala} yields
\begin{align}
 \frac{\partial \rho}{\partial t} + \nabla\cdot\left( \rho\vec u_E \right) + \nabla \cdot\left( n(\vec u_\psi + \vec u_d + \vec u_g) \right) &= 0\label{eq:vorticity}
\end{align}
with the polarization charge density 
$\rho = \nabla\cdot( n\nabla_\perp \phi / \Omega B)$ 
and
$\vec u_\psi := \hat{\vec b}\times \nabla\psi /B$ 
with 
$\psi:= m_i\vec u_E^2 /2e$ 
We exploit this form of Eq ~\eqref{eq:generalb} in our numerical simulations 

Equations~\eqref{eq:generala} and \eqref{eq:generalb} respectively \eqref{eq:vorticity} have several invariants 
First, in Eq ~\eqref{eq:generala} the relative particle number 
$M(t) := \int \mathrm{dA}\, (n-n_0)$ is conserved over time
$\d M(t)/\d t = 0$  
Furthermore, we integrate 
$( T_e(1+\ln n) -T_e \ln B)\partial_t n$
as well as
$-e\phi \partial_t\rho - (m_i\vec u_E^2/2+gm_ix - T_e\ln B)\partial_t n$ 
over the domain to get, disregarding boundary contributions,
\begin{align}
  \frac{\d}{\d t}\left[T_eS(t) + H(t) \right] = 0, \label{eq:energya}\\ 
    \frac{\d}{\d t} \left[ E(t) - G(t) - H(t)\right] =  0,
    \label{eq:energyb}
\end{align}
where we define 
the entropy
$S(t):=\int \mathrm{dA}\, [n\ln(n/n_0) - (n-n_0)]$,  
the kinetic energy 
$E(t):=m_i \int \mathrm{dA}\, n\vec u_E^2/2$ 
and the potential energies
$G(t) := m_i g\int \mathrm{dA}\, x(n-n_0)$
and
$H(t) := T_e\int \mathrm{dA}\, (n-n_0) \ln (B^{-1})$ 
Note that $n\ln( n/n_0) - n + n_0 \approx (n-n_0)^2/2$ for $|(n-n_0)/n_0| \ll 1$ and $S(t)$ thus reduces to the 
local entropy form in Reference~\cite{Kube2016}  

We now set up a gravitational field $\vec g = g\hat x$ and a constant homogeneous background
magnetic field $\vec B = B_0 \hat z$ in a Cartesian coordinate system 
Then the divergences of the electric and gravitational drift velocities $\nabla\cdot\vec u_E$ and $\nabla\cdot\vec u_g$
and the diamagnetic current $\nabla\cdot(n\vec u_d)$ vanish, which makes the 
flow incompressible  Furthermore, the magnetic potential energy vanishes $H(t) = 0$ 

In a second system we model the inhomogeneous magnetic field present in tokamaks as
$\vec B := B_0 (1+ x/R_0)^{-1}\hat z$ and neglect the gravitational drift $\vec u_g = 0$ 
Then, the potential energy $G(t) = 0$  
Note that 
$H(t) = m_i \ensuremath{C_\mathrm{s}}^2/R_0\int\mathrm{dA}\, x(n-n_0) +\mathcal O(R_0^{-2}) $
reduces to $G(t)$ with the effective gravity $g_\text{eff}:= \ensuremath{C_\mathrm{s}}^2/R_0$ with $\ensuremath{C_\mathrm{s}}^2 := T_e/m_i$  
For the rest of this letter we treat $g$ and $g_\text{eff}$ as well as $G(t)$ and $H(t)$ on the same footing 
The magnetic field inhomogeneity thus entails compressible flows, which is 
the only difference to the model describing dynamics in a homogeneous magnetic field introduced above  
Since both $S(t)\geq 0$ and $E(t)\geq 0$ we further derive from Eq ~\eqref{eq:energya} and Eq ~\eqref{eq:energyb} that the kinetic energy
is bounded by $E(t) \leq T_eS(t) + E(t) = T_e S(0)$; a feature absent from the gravitational system with 
incompressible flows, where $S(t) = S(0)$  

We now show that the invariants Eqs ~\eqref{eq:energya} and \eqref{eq:energyb} present restrictions on the velocity and
acceleration of plasma blobs  
First, we define the blobs' center of mass (COM) via $X(t):= \int\mathrm{dA}\, x(n-n_0)/M$ and 
its COM velocity as $V(t):=\d X(t)/\d t$  
The latter is proportional to the total radial particle flux~\cite{Garcia_Bian_Fundamensky_POP_2006, Held2016a} 
We assume
that $n>n_0$ and $(n-n_0)^2/2 \leq [ n\ln (n/n_0) - (n-n_0)]n $ to show for both systems 
\begin{align}
  (MV)^2 &= \left( \int \mathrm{dA}\, n{\phi_y}/{B} \right)^2
  = \left( \int \mathrm{dA}\, (n-n_0){\phi_y}/{B} \right)^2\nonumber\\
 
&\leq 2 \left( \int \mathrm{dA}\, \left[n\ln (n/n_0) -(n-n_0)\right]^{1/2}\sqrt{n}{\phi_y}/{B}\right)^2\nonumber\\
 
  &\leq 4 S(0) E(t)/m_i 
 
  \label{eq:inequality}
\end{align}
Here we use the Cauchy-Schwartz inequality and 
$\phi_y:=\partial\phi/\partial y$  
Note that although we derive the inequality Eq ~\eqref{eq:inequality} only for amplitudes $\triangle n >0$  we assume that the results also hold for depletions  This is justified by our numerical results later in this letter  
If we initialize our density field with a seeded blob of radius $\ell$ and amplitude $\triangle n$ as 
\begin{align}
  n(\vec x, 0) &= n_0 + \triangle n \exp\left( -\frac{\vec x^2}{2\ell^2} \right), \label{eq:inita}
 
 
\end{align}
and  
$\phi(\vec x, 0 ) = 0$,
we immediately have $M := M(0) = 2\pi \ell^2 \triangle n$, $E(0) = G(0) = 0$ and 
$S(0) = 2\pi \ell^2 f(\triangle n)$, where $f(\triangle n)$ captures the amplitude dependence of 
the integral for $S(0)$  

The acceleration for both incompressible and compressible flows can be estimated
by assuming a linear acceleration $V=A_0t$ and $X=A_0t^2/2$~\cite{Held2016a} and using 
$E(t) = G(t) = m_igMX(t)$ in Eq ~\eqref{eq:inequality}
\begin{align}
  \frac{A_0}{g} =  \mathcal Q\frac{2S(0)}{M} \approx \frac{\mathcal Q}{2} \frac{\triangle n }{n_0+2\triangle n/9} 
  \label{eq:acceleration}
\end{align}
Here, we use the Pad\'e approximation of order $(1/1)$ of $2S(0)/M $
and define a model parameter $\mathcal Q$ with $0<\mathcal Q\leq1$ to be determined by numerical simulations 
Note that the Pad\'e approximation is a better approximation than a simple 
truncated Taylor expansion especially for large relative amplitudes of order unity 
Eq ~\eqref{eq:acceleration} predicts that $A_0/g\sim \triangle n/n_0$ for small 
amplitudes $|\triangle n/n_0| < 1$ and $A_0 \sim g $ for very large amplitudes $\triangle n /n_0 \gg 1$, 
which confirms the predictions in~\cite{Pecseli2016} and reproduces the limits discussed in~\cite{Angus2014} 

As pointed out earlier for compressible flows Eq ~\eqref{eq:inequality} can be further estimated
\begin{align}
  (MV)^2  \leq 4 T_eS(0)^2/m_i  
  \label{}
\end{align}
We therefore have a restriction on the maximum COM velocity for compressible flows, which is absent for incompressible flows
\begin{align}
  \frac{\max |V|}{\ensuremath{C_\mathrm{s}}} = {\mathcal Q}\frac{2S(0)}{M} \approx \frac{\mathcal Q}{2} \frac{|\triangle n| }{n_0+2/9 \triangle n } \approx \frac{\mathcal Q}{2} \frac{|\triangle n|}{n_0} 
  \label{eq:linear}
\end{align}
For $|\triangle n /n_0|< 1$ Eq ~\eqref{eq:linear} reduces to the linear scaling derived in~\cite{Kube2016}  
Finally, a scale analysis of Eq ~\eqref{eq:vorticity} shows that~\cite{Ott1978, Garcia2005, Held2016a}
\begin{align}
  \frac{\max |V|}{\ensuremath{C_\mathrm{s}}} = \mathcal R \left( \frac{\ell}{R_0}\frac{|\triangle n|}{n_0} \right)^{1/2} 
  \label{eq:sqrt}
\end{align}
This equation predicts a square root dependence of the center of mass velocity 
on amplitude and size  





We now propose a simple phenomenological model that captures the essential dynamics
of blobs and depletions in the previously stated systems  More specifically 
the model reproduces the acceleration Eq ~\eqref{eq:acceleration} with and without
Boussinesq approximation, the square root scaling for the COM velocity 
Eq ~\eqref{eq:sqrt} for incompressible flows as well as the relation between the 
square root scaling Eq ~\eqref{eq:sqrt} and the linear scaling 
Eq ~\eqref{eq:linear} for compressible flows  
The basic idea is that the COM of blobs behaves like 
the one of an infinitely long plasma column immersed in an ambient plasma  
The dynamics of this column reduces to the one of a two-dimensional ball 
This idea is similar to the analytical ``top hat'' density solution for
blob dynamics recently studied in~\cite{Pecseli2016} 
The ball is subject to buoyancy as well as linear and nonlinear friction
\begin{align}
  M_{\text{i}} \frac{d V}{d t} = (M_{\text{g}} - M_\text{p}) g - c_1 V  - \mathrm{sgn}(V ) \frac{1}{2}c_2 V^2 
  \label{eq:ball}
\end{align}
The gravity $g$ has a positive sign in the coordinate system; sgn$(f)$ is the sign function  
The first term on the right hand side is the buoyancy, where 
$M_{\text{g}} := \pi \ell^2 (n_0 + \mathcal Q \triangle n/2)$ 
is the gravitational mass of the ball with radius $\ell$ and 
$M_\mathrm{p} := n_0 \pi \ell^2 $ 
is the mass of the displaced ambient plasma 
Note that if $\triangle n<0$ the ball represents a depletion and the buoyancy term has a negative sign, i e  the depletion will rise  
We introduce an inertial mass 
$M_{\text{i}} := \pi\ell^2 (n_0 +2\triangle n/9)$ 
different from the gravitational mass $M_{\text{g}}$ in order to 
recover the initial acceleration in Eq ~\eqref{eq:acceleration}  
We interpret the parameters $\mathcal Q$ and $2/9$ as geometrical factors 
that capture the difference of the actual blob form from the idealized
``top hat'' solution  
Also note that the Boussinesq approximation appears in the model as a neglect of inertia, $M_{\text{i}} = \pi\ell^2n_0$ 

The second term is the linear friction term with coefficient $c_1(\ell)$, which
depends on the size of the ball 
If we disregard the nonlinear friction, $c_2=0$, Eq ~\eqref{eq:ball} directly yields a 
maximum velocity $c_1V^*=\pi \ell^2 n g \mathcal Q\triangle n/2$ 
From our previous considerations $\max V/\ensuremath{C_\mathrm{s}}=\mathcal Q \triangle n /2n_0$, we thus identify 
\begin{align}
  c_1 = \pi\ell^2 n_0 g/\ensuremath{C_\mathrm{s}}  
  \label{}
\end{align}
The linear friction coefficient thus depends on the gravity and the size of the
ball  

The last term in \eqref{eq:ball} is the nonlinear friction  The sign of the force depends on whether
the ball rises or falls in the ambient plasma  
If we disregard linear friction $c_1=0$, we have the maximum velocity 
$V^*= \sigma(\triangle n)\sqrt{\pi \ell^2|\triangle n| g\mathcal Q/c_2}$, 
which must equal 
$\max V= \sigma(\triangle n) \mathcal R \sqrt{g \ell |\triangle n/n_0|}$ 
and thus
\begin{align}
  c_2 = {\mathcal Q\pi n_0\ell }/{\mathcal R^2} 
  \label{}
\end{align}
Inserting $c_1$ and $c_2$ into Eq ~\eqref{eq:ball}
we can derive the maximum absolute velocity in the form 
\begin{align}
  \frac{\max |V|}{\ensuremath{C_\mathrm{s}}} = 
        \left(\frac{\mathcal R^2}{\mathcal Q}\right) \frac{\ell}{R_0} \left( 
        \left({1+\left( \frac{\mathcal Q}{\mathcal R} \right)^{2} \frac{|\triangle n|/n_0 }{\ell/R_0}}\right)^{1/2}-1 \right)
  \label{eq:vmax_theo}
\end{align}
and thus have a concise expression for $\max |V|$ that captures both the linear
scaling \eqref{eq:linear} as well as the square root scaling \eqref{eq:sqrt} 
With Eq ~\eqref{eq:acceleration} and Eq ~\eqref{eq:sqrt} respectively Eq ~\eqref{eq:vmax_theo} we 
finally arrive at an analytical expression for the time at which the maximum velocity is reached via 
$t_{\max V} \sim \max V/A_0$  Its inverse $\gamma:=t_{\max V}^{-1}$ gives the
global interchange growth rate, for which an empirical expression was
presented in Reference~\cite{Held2016a} 


We use the open source library FELTOR 
to simulate 
Eqs ~\eqref{eq:generala} and \eqref{eq:vorticity} with and without 
drift compression 
For numerical stabilty we added small diffusive terms on the right hand 
sides of the equations 
The discontinuous Galerkin methods employ three polynomial coefficients and a minimum of $N_x=N_y=768$ grid cells  The box size is $50\ell$ in order to mitigate 
influences of the finite box size on the blob dynamics  
Moreover, we used the invariants in Eqs  \eqref{eq:energya} and \eqref{eq:energyb} as consistency tests to verify the code and repeated simulations 
also in a gyrofluid model  
No differences to the results presented here were found  
Initial perturbations on the particle density field are given by Eq ~\eqref{eq:inita},
where the perturbation amplitude $\triangle n/n_0$ was chosen between $10^{-3}$ and $20$ for blobs and $-10^0$ and $ -10^{-3}$ for depletions  
Due to computational reasons we show results only for $\triangle n/n_0\leq 20$  


For compressible flows we consider two different cases $\ell/R_0 = 10^{-2}$ and
$\ell /R_0 = 10^{-3}$  
 For incompressible flows Eq ~\eqref{eq:generala} and \eqref{eq:vorticity}
 can be normalized such that the blob radius is absent from the equations~\cite{Ott1978, Kube2012}  
 The simulations of incompressible flows can thus be used for both sizes  
The numerical code as well as input parameters and output data can be found 
in the supplemental dataset to this contribution~\cite{Data2017} 

\begin{figure}[htb]
    \includegraphics[width=\columnwidth]{com_blobs}
    \caption{
      The maximum radial COM velocities of blobs for compressible and incompressible flows are shown  
      The continuous lines show Eq ~\eqref{eq:vmax_theo} while the 
      dashed line shows the square root scaling Eq ~\eqref{eq:sqrt} with 
      $\mathcal Q = 0 32$ and $\mathcal R=0 85$ 
    }
    \label{fig:com_blobs}
\end{figure}
In Fig ~\ref{fig:com_blobs} we plot the maximum COM velocity for blobs 
with and without drift compression 
For incompressible flows blobs follow the square root scaling almost 
perfectly  Only at very large amplitudes velocities are slightly below
the predicted values  
For small amplitudes we observe that the compressible blobs follow
a linear scaling  When the amplitudes increase there is a transition to the
square root scaling at around $\triangle n/n_0 \simeq 0 5$ for 
$\ell/R_0=10^{-2}$ and $\triangle n/n_0 \simeq 0 05$ for $\ell/R_0=10^{-3}$, which is consistent with Eq ~\eqref{eq:vmax_theo} and Reference~\cite{Kube2016}  
In the transition regions the simulated velocities are slightly larger than the predicted ones from Eq ~\eqref{eq:vmax_theo} 
Beyond these amplitudes
the velocities of compressible and incompressible blobs align  

\begin{figure}[htb]
    \includegraphics[width=\columnwidth]{com_holes}
    \caption{
      The maximum radial COM velocities of depletions for compressible and incompressible flows are shown  
      The continuous lines show Eq ~\eqref{eq:vmax_theo} while the 
      dashed line shows the square root scaling Eq ~\eqref{eq:sqrt} with 
      $\mathcal Q = 0 32$ and $\mathcal R=0 85$ 
      Note that small amplitudes are on the right and amplitudes close to unity are on the left side 
  }
    \label{fig:com_depletions}
\end{figure}
In Fig ~\ref{fig:com_depletions} we show the maximum radial COM velocity 
for depletions instead of blobs 
For relative amplitudes below $|\triangle n|/n_0 \simeq 0 5$ (right of unity in the plot) the velocities
coincide with the corresponding blob velocities in Fig ~\ref{fig:com_blobs}  
 For amplitudes larger than $|\triangle n|/n_0\simeq 0 5$ the 
velocities follow the square root scaling 
We observe that for plasma depletions beyond $90$ percent the velocities 
in both systems reach a constant value that is very well predicted by the
square root scaling  

\begin{figure}[htb]
    \includegraphics[width=\columnwidth]{acc_blobs}
    \caption{
      Average acceleration of blobs for compressible and incompressible flows are shown 
      The continuous line shows the acceleration in Eq ~\eqref{eq:acceleration} 
      with $\mathcal Q=0 32$
      while the dashed line is a linear reference line, which corresponds to the Boussinesq approximation  
  }
    \label{fig:acc_blobs}
\end{figure}
In Fig ~\ref{fig:acc_blobs} we show the average acceleration of blobs 
for compressible and incompressible flows computed
by dividing the maximum velocity $\max V$ by the time  
to reach this velocity $t_{\max V}$  
We compare the simulation results
to the theoretical predictions Eq ~\eqref{eq:acceleration} of our model with and without inertia  
The results of the compressible and incompressible systems coincide and fit very
well to our theoretical values  
For amplitudes larger than unity the acceleration deviates significantly from the prediction with Boussinesq approximation 

\begin{figure}[htb]
    \includegraphics[width=\columnwidth]{acc_holes}
    \caption{
      Average acceleration of depletions for compressible and incompressible flows are shown 
      The continuous line shows the acceleration in Eq ~\eqref{eq:acceleration} 
      with $\mathcal Q=0 32$
      while the dashed line is a linear reference line, which corresponds to the Boussinesq approximation  
    }
    \label{fig:acc_depletions}
\end{figure}
In Fig ~\ref{fig:acc_depletions} we show the simulated acceleration of depletions in the
compressible and the incompressible systems  We compare the simulation results
to the theoretical predictions Eq ~\eqref{eq:acceleration} of our model with and without inertia 
Deviations from our theoretical prediction Eq ~\eqref{eq:acceleration} are visible for amplitudes smaller than $\triangle n/n_0 \simeq -0 5$ (left of unity in the plot)  The relative deviations are small at around $20$ percent  
As in Fig ~\ref{fig:com_depletions} the acceleration reaches a constant values
for plasma depletions of more than $90$ percent 
Comparing Fig ~\ref{fig:acc_depletions} to Fig ~\ref{fig:acc_blobs} the asymmetry between blobs and depletions becomes 
apparent  While the acceleration of blobs is reduced for large 
amplitudes compared to a linear dependence the acceleration 
of depletions is increased  In the language of our simple buoyancy 
model the inertia of depletions is reduced but increased for blobs  



In conclusion  
  we discuss the dynamics of seeded blobs and depletions in a 
  compressible and an incompressible system 
  With only two fit parameters our theoretical results reproduce the 
  numerical COM velocities and accelerations over five orders of magnitude 
  We derive the amplitude dependence of the acceleration of blobs and depletions from 
  the conservation laws of our systems in Eq ~\eqref{eq:acceleration}  
  From the same inequality a linear regime is derived in the compressible system for 
  ratios of amplitudes to sizes smaller than a critical value 
   In this regime 
  the blob and depletion velocity depends linearly on the initial amplitude and 
  is independent of size  The regime is absent from the system with incompressible flows 
  Our theoretical results are verified by numerical simulations for all 
  amplitudes that are relevant in magnetic fusion devices 
  Finally, we suggest a new empirical blob model that captures the detailed dynamics of more complicated models  
  The Boussinesq approximation is clarified as the absence of inertia and a thus altered acceleration of blobs and depletions 
  The maximum blob velocity is not altered by the Boussinesq approximation 

The authors were supported with financial subvention from the Research Council of Norway under grant
240510/F20  M W  and M H  were supported by the Austrian Science Fund (FWF) Y398   The computational
results presented have been achieved in part using the Vienna Scientific Cluster (VSC)  Part of this work was performed on the Abel Cluster, owned by the University of Oslo and the Norwegian metacenter
for High Performance Computing (NOTUR), and operated by the Department for Research Computing at USIT,
the University of Oslo IT-department 
This work has been carried out within the framework of the EUROfusion Consortium and has received funding from the Euratom research and training programme 2014-2018 under grant agreement No 633053  The views and opinions expressed herein do not necessarily reflect those of the European Commission 
Context 2: \section{Introduction}
In recent years, vehicular technology has attracted significant attention from the automotive and telecommunication industries, leading to the emergence of vehicle-to-everything (V2X) communications for improving road safety, traffic management services and driving comfort 
V2X supported by the sixth generation (6G) is envisioned to be a key enabler of future connected autonomous vehicles \cite{9779322}  Although its transformative benefits for leveraging intelligent transportation systems, V2X still face several technical issues mainly related to performance and security 

The integration of sensing and communication (ISAC) has emerged very recently as a revolutionary element of 6G that could potentially help enabling adaptive learning and intelligent decision-making in future V2X applications 
The combination of sensing and communication allows vehicles to perceive their surroundings better, predict manoeuvres from nearby users and make intelligent decisions, thus paving the way toward a safer transportation system \cite{9665433} 
Modernized vehicles are augmented with various types of sensors divided into exteroceptive to observe their surrounding environment and proprioceptive to observe their internal states 
The former like GPS, Lidar, and Cameras are conveyed to improve situational awareness, while latter sensors, such as steering, pedal, and wheel speed, convey to improve self-awareness  

While sensing the environment, vehicles can exchange messages that assist in improving situational- and self-awareness and in coordinating maneuvers with other vehicles 
Those messages like the basic safety (BSMs) and cooperative awareness messages (CAMs) are composed of transmitting vehicle's states such as position and velocity and other vehicles' states in the vicinity  Vehicles might use their sensors, such as cameras and Lidar, to detect road users (e g , pedestrians), which can be communicated with other road users via the V2X messages to improve the overall performance  However, V2X communication links carrying those messages are inherently vulnerable to malicious attacks due to the open and shared nature of the wireless spectrum among vehicles and other cellular users \cite{8336901}  For instance, a jammer in the vicinity might alter the information to be communicated to nearby vehicles/users or can intentionally disrupt communication between a platoon of vehicles making the legitimate signals unrecognizable for on-board units (OBUs) and/or road side units (RSUs) that endanger vehicular safety 
\cite{8553649} 

In addition, the integrity of GPS signals and the correct acquisition of navigation data to compute position, velocity and time information is critical in V2X applications for their safe operation  However, since civil GPS receivers rely on unencrypted satellite signals, spoofers can easily replicate them by deceiving the GPS receiver to compute falsified positions \cite{9226611} 
Also, the long distance between satellites and terrestrial GPS receivers leads to an extremely weak signal that can be easily drowned out by a spoofer  
Thus, GPS sensors' vulnerability to spoofing attacks poses a severe threat that might be causing vehicles to be out of control or even hijacked and endanger human life \cite{9881548} 
Therefore, GPS spoofing attacks and jamming interference needs to be controlled and detected in real-time to reach secured vehicular communications allowing vehicles to securely talk to each other and interact with the infrastructure (e g , roadside terminals, base stations) \cite{9860410} 

Existing methods for GPS spoofing detection include GPS signal analysis methods and GPS message encryption methods \cite{9845684}  However, the former requires the ground truth source during the detection process, which is not always possible to collect  In contrast, the latter involves support from a secured infrastructure and advanced computing resources on GPS receivers, which hinders their adoption in V2X applications  On the other hand, existing methods for jammer detection in vehicular networks are based on analysing the packet drop rate as in \cite{9484071}, making it difficult to detect an advanced jammer manipulating the legitimate signal instead of disrupting it 
In this work, we propose a method to jointly detect GPS spoofing and jamming attacks in the V2X network  A coupled generalized dynamic Bayesian network (C-GDBN) is employed to learn the interaction between RF signals received by the RSU from multiple vehicles and their corresponding trajectories  This integration of vehicles' positional information with vehicle-to-infrastructure (V2I) communications allows semantic learning while mapping RF signals with vehicles' trajectories and enables the RSU to jointly predict the RF signals it expects to receive from the vehicles from which it can anticipate the expected trajectories 

The main contributions of this paper can be summarized as follows: \textit{i)} A joint GPS spoofing and jamming detection method is proposed for the V2X scenario, which is based on learning a generative interactive model as the C-GDBN  Such a model encodes the cross-correlation between the RF signals transmitted by multiple vehicles and their trajectories, where their semantic meaning is coupled stochastically at a high abstraction level  \textit{ii)} A cognitive RSU equipped with the acquired C-GDBN can predict and estimate vehicle positions based on real-time RF signals  This allows RSU to evaluate whether both RF signals and vehicles' trajectories are evolving according to the dynamic rules encoded in the C-GDBN and, consequently, to identify the cause (i e , a jammer attacking the V2I or a spoofer attacking the satellite link) of the abnormal behaviour that occurred in the V2X environment  \textit{iii)} Extensive simulation results demonstrate that the proposed method accurately estimates the vehicles' trajectories from the predicted RF signals, effectively detect any abnormal behaviour and identify the type of abnormality occurring with high detection probabilities 
To our best knowledge, this is the first work that studies the joint detection of jamming and spoofing in V2X systems 

\section{System model and problem formulation}
The system model depicted in Fig ~\ref{fig_SystemModel}, includes a single cell vehicular network consisting of a road side unit (RSU) located at $\mathrm{p}_{R}=[{x}_{R},{y}_{R}]$, a road side jammer (RSJ) located at $\mathrm{p}_{J}=[{x}_{J},{y}_{J}]$, a road side spoofer (RSS) located at $\mathrm{p}_{s}=[{x}_{s},{y}_{s}]$ and $N$ vehicles moving along multi-lane road in an urban area  The time-varying positions of the $n$-th vehicle is given by $\mathrm{p}_{n,t}=[{x}_{n,t},{y}_{n,t}]$ where $n \in N$  Among the $K$ orthogonal subchannels available for the Vehicle-to-Infrastructure (V2I) communications, RSU assigns one V2I link to each vehicle  Each vehicle exchanges messages composed of the vehicle's state (i e , position and velocity) with RSU through the $k$-th V2I link by transmitting a signal $\textrm{x}_{t,k}$ carrying those messages at each time instant $t$ where $k \in K$  We consider a reactive RSJ that aims to attack the V2I link by injecting intentional interference to the communication link between vehicles and RSU to alter the transmitted signals by the vehicles  In contrast, the RSS purposes to mislead the vehicles by spoofing the GPS signal and so registering wrong GPS positions  RSU aims to detect both the spoofer on the satellite link and the jammer on multiple V2I links in order to take effective actions and protect the vehicular network  
The joint GPS spoofing and jamming detection problem can be formulated as the following ternary hypothesis test:
\begin{equation}
    \begin{cases}
        \mathcal{H}_{0}: \mathrm{z}_{t,k} = \mathrm{g}_{t,k}^{nR} \mathrm{x}_{t,k} + \mathrm{v}_{t,k}, \\
        \mathcal{H}_{1}: \mathrm{z}_{t,k} = \mathrm{g}_{t,k}^{nR} \mathrm{x}_{t,k} + \mathrm{g}_{t,k}^{JR} \mathrm{x}_{t,k}^{j} + \mathrm{v}_{t,k}, \\
        \mathcal{H}_{2}: \mathrm{z}_{t,k} = \mathrm{g}_{t,k}^{nR} \mathrm{x}_{t,k}^{*} + \mathrm{v}_{t,k},
    \end{cases}
\end{equation}
where $\mathcal{H}_{0}$, $\mathcal{H}_{1}$ and $\mathcal{H}_{2}$ denote three hypotheses corresponding to the absence of both jammer and spoofer, the presence of the jammer, and the presence of the spoofer, respectively  $\textrm{z}_{t,k}$ is the received signal at the RSU at $t$ over the $k$-th V2I link, $\textrm{g}_{t,k}^{nR}$ is the channel power gain from vehicle $n$ to the RSU formulated as: $\textrm{g}_{t,k}^{nR} = \alpha_{t,k}^{nR} \mathrm{h}_{t,k}^{nR}$, where $\alpha_{t,k}^{nR}$ is the large-scale fading including path-loss and shadowing modeled as \cite{8723178}: $\alpha_{t,k}^{nR}=G\beta d_{t,nR}^{-\gamma}$ 
\begin{figure}[t!]
    \centering
    \includegraphics[height=5 3cm]{Figures/SystemModel_V1 pdf}
    \caption{An illustration of the system model }
    \label{fig_SystemModel}
\end{figure}
$G$ is the pathloss constant, $\beta$ is a log normal shadow fading random variable, $d_{t,nR}=\sqrt{({x}_{n,t}-x_{R})^{2}+({y}_{n,t}-y_{R})^{2}}$ is the distance between the $n$-th vehicle and the RSU  $\gamma$ is the power decay exponent and
$\mathrm{h}_{t,k}$ is the small-scale fading component distributed according to $\mathcal{CN}(0,1)$  In addition, $\mathrm{x}_{t,k}$ is the desired signal transmitted by the $n$-th vehicle, and $\mathrm{v}_{t,k}$ is an additive white Gaussian noise with variance $\sigma_{n}^{2}$  $\mathrm{x}_{t,k}^{J}$ is the jamming signal, $\mathrm{x}_{t,k}^{*}$ is the spoofed signal (i e , the signal that carries the bits related to the wrong GPS positions), $\mathrm{g}_{t,k}^{JR} = \alpha_{t,k}^{JR} \mathrm{h}_{t,k}^{JR}$ is the channel power gain from RSJ to RSU where $\alpha_{t,k}^{JR}=G\beta d_{t,JR}^{-\gamma}$ such that $d_{t,JR}=\sqrt{({x}_{J}-x_{R})^{2}+({y}_{J}-y_{R})^{2}}$ 
We assume that the channel state information (CSI) of V2I links is known and can be estimated at the RSU as in \cite{8345717}  
The RSU is equipped with an RF antenna which can track the vehicles' trajectories after decoding the received RF signals  RSU aims to learn the interaction between the RF signals received from multiple vehicles and their corresponding trajectories 

\section{Proposed method for joint detection of GPS spoofing and jamming}

\subsection{Environment Representation}
The RSU is receiving RF signals from each vehicle and tracking its trajectory (which we refer to as GPS signal) by decoding and demodulating the received RF signals  
The Generalized state-space model describing the $i$-th signal evolvement at multiple levels embodies the following equations: 
\begin{equation} \label{eq_discreteLevel}
    \mathrm{\Tilde{S}_{t}}^{(i)} = \mathrm{f}(\mathrm{\Tilde{S}_{t-1}}^{(i)}) + \mathrm{\tilde{w}}_{t},
\end{equation}
\begin{equation} \label{eq_continuousLevel}
    \mathrm{\Tilde{X}_{t}}^{(i)} = \mathrm{A} \mathrm{\Tilde{X}_{t-1}}^{(i)} + \mathrm{B} \mathrm{U}_{\mathrm{\Tilde{S}_{t}}^{(i)}} + \mathrm{\tilde{w}}_{t},
\end{equation}
\begin{equation} \label{eq_observationLevel}
    \mathrm{\Tilde{Z}_{t}}^{(i)} = \mathrm{H} \mathrm{\Tilde{X}_{t}}^{(i)} + \mathrm{\tilde{v}}_{t},
\end{equation}
where $i \in \{$RF, GPS$\}$ indicates the type of signal received by the RSU  The transition system model defined in \eqref{eq_discreteLevel} explains the evolution of the discrete random variables $\mathrm{\Tilde{S}_{t}}^{(i)}$ representing the clusters of the RF (or GPS) signal dynamics, $\mathrm{f}( )$ is a non linear function of its argument and the additive term $\mathrm{\tilde{w}}_{t}$ denotes the process noise  The dynamic model defined in \eqref{eq_continuousLevel} explains the RF signal dynamics evolution or the motion dynamics evolution of the $n$-th vehicle, where $\mathrm{\Tilde{X}_{t}}^{(i)}$ are hidden continuous variables generating sensory signals, $\mathrm{A} \in \mathbb{R}^{2d}$ and $\mathrm{B} \in \mathbb{R}^{2d}$ are the dynamic and control matrices, respectively, and $\mathrm{U}_{\mathrm{\Tilde{S}_{t}}^{(i)}}$ is the control vector representing the dynamic rules of how the signals evolve with time  The measurement model defined in \eqref{eq_observationLevel} describes dependence of the sensory signals $\mathrm{\Tilde{Z}_{t}}^{(i)}$ on the hidden states $\mathrm{\Tilde{X}_{t}}^{(i)}$ that is parametrized by the measurement matrix $\mathrm{B} \in \mathbb{R}^{2d}$ where $d$ stands for the data dimensionality and $\mathrm{\tilde{v}}_{t}$ is a random noise  

\subsection{Learning GDBN}
The hierarchical dynamic models defined in \eqref{eq_discreteLevel}, \eqref{eq_continuousLevel} and \eqref{eq_observationLevel} are structured in a Generalized Dynamic Bayesian Network (GDBN) \cite{9858012} as shown in Fig ~\ref{fig_GDBN_CGDBN}-(a) that provides a probabilistic graphical model expressing the conditional dependencies among random hidden variables and observable states  The generative process explaining how sensory signals have been generated can be factorized as:
\begin{equation} \label{eq_generative_process}
\begin{split}
    \mathrm{P}(\mathrm{\tilde{Z}}_{t}^{(i)}, \mathrm{\tilde{X}}_{t}^{(i)}, \mathrm{\tilde{S}}_{t}^{(i)}) = \mathrm{P}(\mathrm{\tilde{S}}_{0}^{(i)}) \mathrm{P}(\mathrm{\tilde{X}}_{0}^{(i)}) \\ \bigg[ \prod_{t=1}^{\mathrm{T}} \mathrm{P}(\mathrm{\tilde{Z}}_{t}^{(i)}|\mathrm{\tilde{X}}_{t}^{(i)}) \mathrm{P}(\mathrm{\tilde{X}}_{t}^{(i)}|\mathrm{\tilde{X}}_{t-1}^{(i)}, \mathrm{\tilde{S}}_{t}^{(i)}) \mathrm{P}(\mathrm{\tilde{S}}_{t}^{(i)}|\mathrm{\tilde{S}}_{t-1}^{(i)}) \bigg],
\end{split}
\end{equation}
where $\mathrm{P}(\mathrm{\tilde{S}}_{0}^{(i)})$ and $\mathrm{P}(\mathrm{\tilde{X}}_{0}^{(i)})$ are initial prior distributions, $\mathrm{P}(\mathrm{\tilde{Z}}_{t}^{(i)}|\mathrm{\tilde{X}}_{t}^{(i)})$ is the likelihood, $\mathrm{P}(\mathrm{\tilde{X}}_{t}^{(i)}|\mathrm{\tilde{X}}_{t-1}^{(i)}, \mathrm{\tilde{S}}_{t}^{(i)})$ and $\mathrm{P}(\mathrm{\tilde{S}}_{t}^{(i)}|\mathrm{\tilde{S}}_{t-1}^{(i)})$ are the transition densities describing the temporal and hierarchical dynamics of the generalized state-space model 
The generative process defined in \eqref{eq_generative_process} indicates the cause-effect relationships the model impose on the random variables $\mathrm{\tilde{S}}_{t}^{(i)}$, $\mathrm{\tilde{X}}_{t}^{(i)}$ and $\mathrm{\tilde{Z}}_{t}^{(i)}$ forming a chain of causality describing how one state contributes to the production of another state which is represented by the link $\mathrm{\tilde{S}}_{t}^{(i)} \rightarrow \mathrm{\tilde{X}}_{t}^{(i)} \rightarrow \mathrm{\tilde{Z}}_{t}^{(i)}$ 

The RSU starts perceiving the environment using a static assumption about the environmental states evolution by assuming that sensory signals are only subject to random noise  Hence, RSU predicts the RF signal (or vehciles trajectory) using the following simplified model:
$\mathrm{\tilde{X}}_{t}^{(i)} = \mathrm{A} \mathrm{\tilde{X}}_{t-1}^{(i)} + \mathrm{\tilde{w}}_{t}$, 
that differs from \eqref{eq_continuousLevel} in the control vector $\mathrm{U}_{\mathrm{\Tilde{S}_{t}}^{(i)}}$ which is supposed to be null, i e , $\mathrm{U}_{\mathrm{\Tilde{S}_{t}}^{(i)}} = 0$ as the dynamic rules explaining how the environmental states evolve with time are not discovered yet 
Those rules can be discovered by exploiting the generalized errors (GEs), i e , the difference between predictions and observations  The GEs projected into the measurement space are calculated as:
$\tilde{\varepsilon}_{\mathrm{\tilde{Z}}_{t}^{(i)}}^{} = \mathrm{\tilde{Z}}_{t}^{(i)} - \mathrm{H} \mathrm{\tilde{X}}_{t}^{(i)}$ 
Projecting $\tilde{\varepsilon}_{\mathrm{\tilde{Z}}_t}^{}$ back into the generalized state space can be done as follows:
\begin{equation}\label{GE_continuousLevel_initialModel}
    \tilde{\varepsilon}_{\mathrm{\tilde{X}}_t}^{(i)} = \mathrm{H}^{-1}\tilde{\varepsilon}_{\mathrm{\tilde{Z}}_{t}^{(i)}}^{}=\mathrm{H}^{-1}(\mathrm{\tilde{Z}}_{t}^{(i)}-\mathrm{H}\mathrm{\tilde{X}}_{t}^{(i)}) = \mathrm{H}^{-1}\mathrm{\tilde{Z}}_{t}^{(i)} - \mathrm{\tilde{X}}_{t}^{(i)} 
\end{equation}
The GEs defined in \eqref{GE_continuousLevel_initialModel} can be grouped into discrete clusters in an unsupervised manner by employing the Growing Neural Gas (GNG)  The latter produces a set of discrete variables (clusters) denoted by:
$\mathbf{\tilde{S}^{(i)}}=\{\mathrm{\tilde{S}}_{1}^{(i)},\mathrm{\tilde{S}}_{2}^{(i)},\dots,\mathrm{\tilde{S}}_{M_{i}}^{(i)}\}$,
where $M_{i}$ is the total number of clusters and each cluster $\mathrm{\tilde{S}}_{m}^{(i)} \in \mathbf{\tilde{S}^{(i)}}$ follows a Gaussian distribution composed of GEs with homogeneous properties, such that $\mathrm{\tilde{S}}_{m}^{(i)} \sim \mathcal{N}(\tilde{\mu}_{\mathrm{\tilde{S}}_{m}^{(i)}}=[\mu_{\tilde{S}_{m}^{(i)}}, \Dot{\mu}_{\tilde{S}_{m}^{(i)}}], \Sigma_{\mathrm{\tilde{S}}_{m}^{(i)}})$ 
\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 40\linewidth}
        \centering
           \includegraphics[width=2 5cm]{Figures/GDBN pdf}
        \\[-1 0mm]
        {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{ 50\linewidth}
            \centering
            \includegraphics[width=5 0cm]{Figures/C_GDBN pdf}
           
            {\scriptsize (b)}
        \end{minipage}
        \caption{(a) The GDBN  (b) The coupled GDBN (C-GDBN) composed of two GDBNs representing the two signals received at the RSU where their discrete hidden variables are stochastically coupled }
        \label{fig_GDBN_CGDBN}
    \end{center}
\end{figure}
The dynamic transitions of the sensory signals among the available clusters can be captured in a time-varying transition matrix ($\Pi_{\tau}$) by estimating the time-varying transition probabilities $\pi_{ij}=\mathrm{P}(\mathrm{\tilde{S}}_{t}^{(i)}=i|\mathrm{\tilde{S}}_{t-1}^{(i)}=j, \tau)$ where $\tau$ is the time spent in $\mathrm{\tilde{S}}_{t-1}^{(i)}=j$ before transition to $\mathrm{\tilde{S}}_{t}^{(i)}=i$ 

\subsection{Learning Coupled GDBN (C-GDBN)}
The learning procedure described in the previous section can be executed for each signal type, i e , RF and GPS  After learning a separated GDBN model for each signal type, we analyse the interaction behaviour between RF signal and GPS signal received at the RSU by tracking the cluster firing among $\mathbf{\tilde{S}^{(1)}}$ and $\mathbf{\tilde{S}^{(2)}}$ during a certain experience  Such an interaction can be encoded in a Coupled GDBN (C-GDBN) as shown in Fig \ref{fig_GDBN_CGDBN}-(b) composed of the two GDBNs representing the two signals where their hidden variables at the discrete level are stochastically coupled (in $\mathrm{\tilde{C}}_{t}{=}[\mathrm{\tilde{S}}_{t}^{(1)},\mathrm{\tilde{S}}_{t}^{(2)}]$) as those variables are uncorrelated but have coupled means 
The interactive matrix $\Phi \in \mathbb{R}^{M_{1},M_{2}}$ encodes the firing cluster pattern allowing to predict the GPS signal from RF signal is defined as follows:
\begin{equation} \label{interactiveTM_fromRFtoGPS}
\Phi = 
        \begin{bmatrix} 
            \mathrm{P}(\mathrm{\Tilde{S}_{1}}^{(2)}|\mathrm{\Tilde{S}_{1}}^{(1)}) & \mathrm{P}(\mathrm{\Tilde{S}_{2}}^{(2)}|\mathrm{\Tilde{S}_{1}}^{(1)}) & \dots & \mathrm{P}(\mathrm{\Tilde{S}_{M_{2}}}^{(2)}|\mathrm{\Tilde{S}_{1}}^{(1)}) \\
            \mathrm{P}(\mathrm{\Tilde{S}_{1}}^{(2)}|\mathrm{\Tilde{S}_{2}}^{(1)}) & \mathrm{P}(\mathrm{\Tilde{S}_{2}}^{(2)}|\mathrm{\Tilde{S}_{2}}^{(1)}) & \dots & \mathrm{P}(\mathrm{\Tilde{S}_{M_{2}}}^{(2)}|\mathrm{\Tilde{S}_{2}}^{(1)}) \\
            \vdots & \vdots & \ddots & \vdots \\
            \mathrm{P}(\mathrm{\Tilde{S}_{1}}^{(2)}|\mathrm{\Tilde{S}_{M_{1}}}^{(1)}) & \mathrm{P}(\mathrm{\Tilde{S}_{2}}^{(2)}|\mathrm{\Tilde{S}_{M_{1}}}^{(1)}) & \dots & \mathrm{P}(\mathrm{\Tilde{S}_{M_{2}}}^{(2)}|\mathrm{\Tilde{S}_{M_{1}}}^{(1)}) 
        \end{bmatrix} 
\end{equation}

\subsection{Joint Prediction and Perception}
RSU starts predicting the RF signals it expects to receive from each vehicle based on a Modified Markov Jump Particle Filter (M-MJPF) \cite{9858012} that combines Particle filter (PF) and Kalman filter (KF) to perform temporal and hierarchical predictions  Since the acquired C-GDBN allows predicting a certain signal's dynamic evolution based on another's evolution, it requires an interactive Bayesian filter capable of dealing with more complicated predictions  To this purpose, we propose to employ an Interactive M-MJPF (IM-MJPF) on the C-GDBN  The IM-MJPF consists of a PF that propagates a set of $L$ particles equally weighted, such that $\{\mathrm{\tilde{S}}_{t,l}^{(1)}, \mathrm{W}_{t,l}^{(1)}\}{\sim}\{\pi(\mathrm{\tilde{S}}_{t}^{(1)}), \frac{1}{L}\}$, where $\mathrm{\tilde{S}}_{t,l}^{(1)}$, $l \in L$ and $( ^{(1)})$ is the RF signal type  In addition, RSU relies on $\Phi$ defined in \eqref{interactiveTM_fromRFtoGPS} to predict $\mathrm{\tilde{S}}_{t}^{(2)}$ realizing the discrete cluster of vehicle's trajectory starting from the predicted RF signal according to: $\{\mathrm{\tilde{S}}_{t}^{(2)},\mathrm{W}_{t,l}^{(2)}\}{\sim} \{\Phi(\mathrm{\tilde{S}}_{t,l}^{(1)}){=}\mathrm{P}( |\mathrm{\tilde{S}}_{t,l}^{(1)}), \mathrm{W}_{t,l}^{(2)}\}$  For each predicted discrete variable $\mathrm{\tilde{S}}_{t,l}^{(i)}$, a multiple KF is employed to predict multiple continuous variables which guided by the predictions at the higher level as declared in \eqref{eq_continuousLevel} that can be represented probabilistically as $\mathrm{P}(\mathrm{\tilde{X}}_{t}^{(i)}|\mathrm{\tilde{X}}_{t-1}^{(i)}, \mathrm{\tilde{S}}_{t}^{(i)})$  The posterior probability that is used to evaluate expectations is given by:
\begin{multline} \label{piX}
    \pi(\mathrm{\tilde{X}}_{t}^{(i)})=\mathrm{P}(\mathrm{\tilde{X}}_{t}^{(i)},\mathrm{\tilde{S}}_{t}^{(i)}|\mathrm{\tilde{Z}}_{t-1}^{(i)})= \\ \int \mathrm{P}(\mathrm{\tilde{X}}_{t}^{(i)}|\mathrm{\tilde{X}}_{t-1}^{(i)}, \mathrm{\tilde{S}}_{t}^{(i)}) \lambda(\mathrm{\tilde{X}}_{t-1}^{(i)})d\mathrm{\tilde{X}}_{t-1}^{(i)},
\end{multline}
where $\lambda(\mathrm{\tilde{X}}_{t-1}^{(i)}){=}\mathrm{P}(\mathrm{\tilde{Z}}_{t-1}^{(i)}|\mathrm{\tilde{X}}_{t-1}^{(i)})$  
The posterior distribution can be updated (and so representing the updated belief) after having seen the new evidence $\mathrm{\tilde{Z}}_{t}^{(i)}$ by exploiting the diagnostic message $\lambda(\mathrm{\tilde{X}}_{t}^{(i)})$ in the following form: $\mathrm{P}(\mathrm{\tilde{X}}_{t}^{(i)}, \mathrm{\tilde{S}}_{t}^{(i)}|\mathrm{\tilde{Z}}_{t}^{(i)}) {=} \pi(\mathrm{\tilde{X}}_{t}^{(i)})\lambda(\mathrm{\tilde{X}}_{t}^{(i)})$  Likewise, belief in discrete hidden variables can be updated according to: $\mathrm{W}_{t,l}^{(i)}{=}\mathrm{W}_{t,l}^{(i)}\lambda (\mathrm{\tilde{S}}_{t}^{(i)})$ where:
$\lambda (\mathrm{\tilde{S}}_{t}^{(i)}) {=} \lambda (\mathrm{\Tilde{X}}_{t}^{(i)})\mathrm{P}(\mathrm{\Tilde{X}}_{t}^{(i)}|\mathrm{\tilde{S}}_{t}^{(i)}) {=} \mathrm{P}(\mathrm{\tilde{Z}}_{t}^{(i)}|\mathrm{\Tilde{X}}_{t}^{(i)})\mathrm{P}(\mathrm{\Tilde{X}}_{t}^{(i)}|\mathrm{\tilde{S}}_{t}^{(i)})$ 

\subsection{Joint GPS spoofing and jamming detection}
RSU can evaluate the current situation and identify if V2I is under attack, or the satellite link is under spoofing based on a multiple abnormality indicator produced by the IM-MJPF  The first indicator calculates the similarity between the predicted RF signal and the observed one, which is defined as:
\begin{equation}\label{eq_CLA1}
    \Upsilon_{\mathrm{\tilde{X}}_{t}^{(1)}} = -ln \bigg( \mathcal{BC} \big(\pi(\mathrm{\tilde{X}}_{t}^{(1)}),\lambda(\mathrm{\tilde{X}}_{t}^{(1)}) \big) \bigg),
\end{equation}
where $\mathcal{BC}( ){=}\int \sqrt{\pi(\mathrm{\tilde{X}}_{t}^{(1)}),\lambda(\mathrm{\tilde{X}}_{t}^{(1)}})d\mathrm{\tilde{X}}_{t}^{(1)}$ is the Bhattacharyya coefficient 
The second indicator calculates the similarity between the predicted GPS signal (from the RF signal) and the observed one after decoding the RF signal which is defined as:
\begin{equation}\label{eq_CLA2}
    \Upsilon_{\mathrm{\tilde{X}}_{t}^{(2)}} = -ln \bigg( \mathcal{BC} \big(\pi(\mathrm{\tilde{X}}_{t}^{(2)}),\lambda(\mathrm{\tilde{X}}_{t}^{(2)}) \big) \bigg),
\end{equation}
where $\mathcal{BC}( ){=}\int \sqrt{\pi(\mathrm{\tilde{X}}_{t}^{(2)}),\lambda(\mathrm{\tilde{X}}_{t}^{(2)}})d\mathrm{\tilde{X}}_{t}^{(2)}$ 
Different hypotheses can be identified by the RSU to understand the current situation whether there is: a jammer attacking the V2I link, or a spoofer attacking the link between the satellite and the vehicle or both jammer and spoofer are absent according to:
\begin{equation}
    \begin{cases}
        \mathcal{H}_{0}: \text{if} \ \ \Upsilon_{\mathrm{\tilde{X}}_{t}^{(1)}} < \xi_{1} \ \text{and} \ \Upsilon_{\mathrm{\tilde{X}}_{t}^{(2)}} < \xi_{2}, \\
        \mathcal{H}_{1}: \text{if} \ \ \Upsilon_{\mathrm{\tilde{X}}_{t}^{(1)}} \geq \xi_{1} \ \text{and} \ \Upsilon_{\mathrm{\tilde{X}}_{t}^{(2)}} \geq \xi_{2}, \\
        \mathcal{H}_{2}: \text{if} \ \ \Upsilon_{\mathrm{\tilde{X}}_{t}^{(1)}} < \xi_{1} \ \text{and} \ \Upsilon_{\mathrm{\tilde{X}}_{t}^{(2)}} \geq \xi_{2},
    \end{cases}
\end{equation}
where $\xi_{1} = \mathbb{E}[\Bar{\Upsilon}_{\mathrm{\tilde{X}}_{t}^{(1)}}] + 3\sqrt{\mathbb{V}[\Bar{\Upsilon}_{\mathrm{\tilde{X}}_{t}^{(1)}}]}$, and $\xi_{2} = \mathbb{E}[\Bar{\Upsilon}_{\mathrm{\tilde{X}}_{t}^{(2)}}] + 3\sqrt{\mathbb{V}[\Bar{\Upsilon}_{\mathrm{\tilde{X}}_{t}^{(2)}}]}$  In $\xi_{1}$ and $\xi_{2}$, $\Bar{\Upsilon}_{\mathrm{\tilde{X}}_{t}^{(1)}}$ and $\Bar{\Upsilon}_{\mathrm{\tilde{X}}_{t}^{(2)}}$ stand for the abnormality signals during training (i e , normal situation when jammer and spoofer are absent) 

\subsection{Evaluation metrics}
In order to evaluate the performance of the proposed method to jointly detect jammer and GPS spoofer, we adopt the jammer detection probability ($\mathrm{P}_{d}^{j}$) and the spoofer detection probability ($\mathrm{P}_{d}^{s}$), respectively, which are defined as:
\begin{equation}
    \mathrm{P}_{d}^{j} = \mathrm{Pr}(\Upsilon_{\mathrm{\tilde{X}}_{t}^{(1)}}\geq \xi_{1}, \Upsilon_{\mathrm{\tilde{X}}_{t}^{(2)}} \geq \xi_{2}|\mathcal{H}_{1}),
\end{equation}
\begin{equation}
    \mathrm{P}_{d}^{s} = \mathrm{Pr}(\Upsilon_{\mathrm{\tilde{X}}_{t}^{(1)}}< \xi_{1}, \Upsilon_{\mathrm{\tilde{X}}_{t}^{(2)}} \geq \xi_{2}|\mathcal{H}_{2}) 
\end{equation}
Also, we evaluate the accuracy of the proposed method in predicting and estimating the vehicles' trajectories and the expected RF signals by adopting the root mean square error (RMSE) defined as:
\begin{equation}
    RMSE = \sqrt{ \frac{1}{T} \sum_{t=1}^{T}\bigg( \mathrm{\tilde{Z}}_{t}^{(i)}-\mathrm{\tilde{X}}_{t}^{(i)} \bigg)^{2} },
\end{equation}
where $T$ is the total number of predictions 

\section{Simulation Results}
In this section, we evaluate the performance of the proposed method to jointly detect the jammer and the spoofer using extensive simulations  We consider $\mathrm{N}=2$ vehicles interacting inside the environment and exchanging their states (i e , position and velocity) with the RSU  The vehicles move along predefined trajectories performing various maneuvers which are picked from the \textit{Lankershim} dataset proposed by \cite{5206559}  The dataset depicts a four way intersection and includes about $19$ intersection maneuvers  RSU assigns one subchannel realizing the V2I link for each vehicle over which the vehicles' states are transmitted  The transmitted signal carrying the vehicle's state and the jamming signal are both QPSK modulated  
The simulation settings are: carrier frequency of $2$GHz, BW${=}1 4$MHz, cell radius of $500$m, RSU antenna height and gain is $25$m and $8$ dBi, receiver noise figure of $5$dB, vehicle antenna height and gain is $1 5$m and $3$dBi, vehicle speed is $40$Km/h, V2I transmit power is $23$dBm, jammer transmit power ranging from $20$dBm to $40$dBm, SNR of $20$dB, path loss model ($128 1{+}37 6log d$), Log-normal shadowing with $8$dB standard deviation and a fast fading channel following the Rayleigh distribution 
\begin{figure}[ht!]
    \begin{center}
        \begin{minipage}[b]{ 55\linewidth}
        \centering
            \includegraphics[width=5 0cm]{Results/ObservedTrajectories_reference}
        \\[-1 5mm]
        {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{ 49\linewidth}
            \centering
            \includegraphics[width=4 9cm]{Results/ObservedRFsignal_Veh1_reference}
            \\[-1 5mm]
            {\scriptsize (b)}
        \end{minipage}
        \begin{minipage}[b]{
Context 3: Paper Info

Title: Generalized Pole-Residue Method for Dynamic Analysis of Nonlinear Systems based on Volterra Series
Publish Date: March 7, 2023
Author List: Qianying Cao (from State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology), Anteng Chang (from College of Engineering, Ocean University of China), Junfeng Du (from College of Engineering, Ocean University of China), Lin Lu (from State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology)

Figure

Fig  1: Procedure to compute the response by a combination of Volterra series and Laguerre polynomials
Fig  2: Linear frequency response function: (a) Modulus of H 1 (ω), (b) phase angle of H 1 (ω)
Fig  6: Comparison of h 1 (t) based on the analytical and reconstructed by Laguerre polynomials
Fig  11: Response for Case 1: (a) comparison between the proposed method and Runge-Kutta method, (b) contribution of the three components
Fig  18: Comparison of original excitations and reconstructed results: (a) Case 1, (b) Case 2 (c) Case 3
Fig  19: Response to irregular excitation for Case 1: (a) comparison between the proposed method and Runge-Kutta method, (b) contribution of the three components
Fig  23: Input-output dataset used to identify Volterra series: (a) input excitation, (b) output response
Fig  26: Comparison of responses between the predicted and numerical results: (a) response to regular excitation, (b) response to irregular excitation
Parameter values of the irregular excitation

abstract

Dynamic systems characterized by second-order nonlinear ordinary differential equations appear in many fields of physics and engineering  To solve these kinds of problems, time-consuming stepby-step numerical integration methods and convolution methods based on Volterra series in the time domain have been widely used 
In contrast, this work develops an efficient generalized pole-residue method based on the Volterra series performed in the Laplace domain  The proposed method involves two steps: (1) the Volterra kernels are decoupled in terms of Laguerre polynomials, and (2) the partial response related to a single Laguerre polynomial is obtained analytically in terms of the pole-residue method 
Compared to the traditional pole-residue method for a linear system, one of the novelties of the pole-residue method in this paper is how to deal with the higher-order poles and their corresponding coefficients  Because the proposed method derives an explicit, continuous response function of time, it is much more efficient than traditional numerical methods 
Unlike the traditional Laplace domain method, the proposed method is applicable to arbitrary irregular excitations  Because the natural response, forced response and cross response are naturally obtained in the solution procedure, meaningful mathematical and physical insights are gained  In numerical studies, systems with a known equation of motion and an unknown equation of motion are investigated 
For each system, regular excitations and complex irregular excitations with different parameters are studied  Numerical studies validate the good accuracy and high efficiency of the proposed method by comparing it with the fourth-order Runge-Kutta method 

Introduction

Most real dynamic systems, as encountered in mechanical and civil engineering, are inherently nonlinear and include geometric nonlinearities, nonlinear constitutive relations in material or nonlinear resistances, etc    Nonlinear problems are attracting increasing attention from engineers and scientists 
This work focuses on solving nonlinear system vibration problems, i e , computing transient responses of nonlinear oscillators under arbitrary irregular excitations based on a combination of a pole-residue operation and Volterra series  Because Volterra series are single-valued, the scope of the present study is restricted to nonlinear behaviours without bifurcations  
To analyse nonlinear vibration problems, researchers have performed extensive studies and developed various mathematical methods  Popular methods include step-by-step numerical integration methods in the time domain, such as the Runge-Kutta method  This kind of method not only requires a small time-step resolution for obtaining high-precision solutions but also is prone to numerical instability  
For a long response with small time steps, the time domain methods are very costly in computational time  Volterra series is another widely used method, which is the extension of the Duhamel integral for linear systems   Volterra series can reproduce many nonlinear phenomena, but they are very complex due to higher-dimensional convolution integrals  
Since 1980's, significant progress has been made in the general area of the Volterra series  The reader is referred to Ref  for a quite thorough literature review on the relevant topics  After 2017, most papers focus on Volterra series identification  De Paula and Marques proposed a method for the identification of Volterra kernels, which was based on time-delay neural networks 
Son and Kim presented a method for a direct estimation of the Volterra kernel coefficients  Dalla Libera et al  introduced two new kernels for Volterra series identification  Peng et al  used the measured response to identify the kernel function and performed the nonlinear structural damage detection  Only a few papers concentrated on simplifying the computation of convolution integrals 
Traditional methods for computing convolution integrals involved in the Volterra series have been performed in three distinct domains: time, frequency and Laplace  The time domain method based on Volterra series refers to discrete time convolution methods, which also suffer computational cost problems  
Both the frequency domain method and the Laplace domain method based on the Volterra series consist of three steps: (1) Volterra series are transformed into an algebraic equation in the frequency domain or Laplace domain; the algebraic equation is solved by purely algebraic manipulations; and (3) the solution in Step ( ) is transformed back to the time domain 
Many researchers have used the frequency domain method to compute the responses of nonlinear systems  Billings et al  developed a new method for identifying the generalized frequency response function (GFRF) of nonlinear systems and then predicted the nonlinear response based on these GFRFs  Carassale et al  introduced a frequency domain approach for nonlinear bridge aerodynamics and aeroelasticity 
Ho et al  computed an output frequency domain function of a nonlinear damped duffing system modelled by a Volterra series under a sinusoidal input  Kim et al  identified the higher order frequency response functions by using the nonlinear autoregressive with exogenous input technique and the harmonic probing method 
This type of frequency domain method is much more efficient than the time domain method due to the fast Fourier transform algorithm  However, the frequency domain method not only is limited by frequency resolutions but also suffers from leakage problems due to the use of discrete Fourier transforms  In addition, the frequency domain method calculates only a steady-state response 
A natural response generated by initial conditions and a cross response caused by interactions between a system and an excitation are ignored  In contrast, the Laplace domain method can calculate all response components because initial conditions are considered in the computational procedure  However, it has been restricted to analytical operations for simple excitations, such as sinusoidal excitations and exponential excitations  
The proposed method falls into the category of the Volterra series method computed in the Laplace domain  Unlike the traditional Laplace domain method, the proposed method is applicable to arbitrary irregular excitations  Because the proposed method follows a similar path as a pole-residue method for linear systems , the proposed method to solve nonlinear system vibration problems is called the generalized pole-residue method 
The main concept of the pole-residue method developed by Hu et al  was that the poles and residues of the response could be easily obtained from those of the input and system transfer function to obtain the closed-form response solution of linear systems  This method included three steps: (1) writing the system transfer function into pole-residue form; (2) writing the excitation into pole-residue form by the Prony-SS method; (3) computing the poles and residues of the response by an algebraic operation based on those from system and excitation 
Compared to Hu et al  , which was regarded as an efficient tool to compute responses of linear systems, the generalized pole-residue method in this paper is introduced to compute responses of nonlinear systems  The proposed method involves two steps: (1) the Volterra kernels are decoupled in terms of Laguerre polynomials, and (2) the partial response related to a single Laguerre polynomial is obtained analytically in terms of the pole-residue method 
Compared to the traditional pole-residue method for a linear system, one of the novelties of the generalized pole-residue method is how to deal with the higher-order poles and their corresponding coefficients  Similar to the Taylor series, the Volterra series representation is an infinite series, and convergence conditions are needed to assure that the representation is meaningful 
Because the proposed method is based on the Volterra series, only the system with convergent Volterra series representation can be treated by the proposed method  The paper is organized as follows  In Section 2, the nonlinear response is modelled by a Volterra series, and Volterra kernel functions are decoupled by Laguerre polynomials 
Then, the pole-residue method for computing explicit responses is developed in Section 3  Numerical studies and discussions are given in Section 4  Finally, the conclusions are drawn in Section 5 

Response calculation based on Volterra series

A nonlinear oscillator, whose governing equation of motion is given by where z(t, y, ẏ) represents an arbitrary nonlinear term; m, c, and k are the mass, damping and linear stiffness, respectively; y(t), ẏ(t) and ÿ(t) are the displacement, velocity and acceleration, respectively; and f (t) is the time-dependent excitation 
If the energy of excitation f (t) is limited, the nonlinear response under zero initial conditions (i e , zero displacement and zero velocity) can be represented by the Volterra series : where N is the order of Volterra series and In Eq  3, h 1 (τ ) is called the first-order Volterra kernel function, which represents the linear behaviour of the system; h n (τ 1 ,      
, τ n ) for n > 1 are the higher-order Volterra kernel functions, which describe the nonlinear behaviour of the system  The complete formulation of y(t) includes infinite series where the labour of calculating the n th term increases quickly with the growth of n  Fortunately, the response accuracy may be ensured by the first several order Volterra series 
This is proved here in numerical studies  The commonly known Laguerre polynomials are represented as : where p i is the order of the Laguerre polynomials and a i is the damping rate  The Laguerre polynomials satisfy the orthogonal relationship expressed as: By using Laguerre polynomials, the Volterra kernel function h n (t 1 ,      
, t n ) in Eq  3 can be decoupled as follows : where the coefficient is computed resorting to the orthogonal relationship in Eq  5: Substituting Eq  6 into Eq  3 yields       The above operation that uses the Laguerre polynomials to decouple Volterra higher order kernel functions has been well-developed 
The reader is referred to Refs  for details about the adopted technique  After decoupling Volterra higher order kernel functions in time, one can regroup Eq  8 into:       By denoting Eq  9 becomes The above procedure to compute the nonlinear response by a combination of Volterra series and Laguerre polynomials is schematically shown in Fig   
Volterra kernel functions h n (t 1 ,       , t n ) can be obtained by either an equation of motion or measured input-output signals  To derive a closedform solution of the response, we must obtain a closed-form solution of x i (t) first  In the following presentation, a closed-form solution of the aforementioned x i (t) and y n (t) is derived by using the pole-residue method 
3  Pole-residue method for calculating x i (t) and y n (t) Performing the Laplace transform of x i (t) in Eq  10 yields where in which Eq  13 includes a single pole and several higher-order poles  For k = 0, −a i is a single pole, and b p i (0) is a corresponding coefficient, namely, the residue  For k > 0, −a i are higher-order poles, and b p i (k) are corresponding coefficients 
For an irregular excitation signal f (t) of a finite duration of T , it can always be approximated into a pole-residue form by using the complex exponential signal decomposition method-Prony-SS : where N ℓ is the number of components; α ℓ and λ ℓ are constant coefficients, which either are real numbers or occur in complex conjugate pairs 
We define λ ℓ = −δ ℓ + iΩ ℓ , where Ω ℓ is the excitation frequency and δ ℓ is the damping factor of the ℓ th component  We denote α ℓ = A ℓ e iθ ℓ , where A ℓ is the amplitude and θ ℓ is the sinusoidal initial phase in radians  Taking the Laplace transform of Eq  15 yields Note that the concept of the Prony-SS method is similar to that of a principal component method 
A smooth excitation usually requires just several terms to achieve a good approximation  For high irregular loadings, including more terms would achieve a better approximation  Substituting Eqs  13 and 16 into Eq  12 yields Expressing xi (s) in its pole-residue form yields where λ ℓ are simple poles, and the corresponding residues are easily obtained by
and −a i are higher-order poles, and the corresponding coefficients are firstly derived as: By taking the inverse Laplace transform of Eq  18, a closed-form solution is obtained: Substituting Eqs  11 and 21 into Eq  2 yields Theoretically speaking, the proposed method for deriving the closed-form solution of the nonlinear response is applicable to any order of the Volterra series 
For practical engineering, usually only the first several order responses dominate  By setting up N = 2, Eq  22 can be simplified into three components: where the natural response, which is only related to system poles, is given by and the cross response, which is related to both system poles and excitation poles, is given by
and the forced response, which is related only to excitation poles, is given by The first term in Eq  26 is the first-order forced response governed by the excitation frequency, i e , the imaginary part of the pole λ ℓ   The second term corresponds to the second-order nonlinear forced response, which includes the sum frequency and difference frequency responses governed by λ ℓ + λ j  
Eq  26 straightforwardly offers visible information about the possible nonlinear vibrations by the cooperation of excitation frequencies  Particularly, consider a sinusoidal excitation f (t) = sin ω r t, which can be expressed as f (t) = γe λt + γ * e λ * t , where γ = −0 5i and λ = iω r   Substituting these values into Eq 
26, the second term of Eq  26 is simplified as where the first term is the difference frequency response, and the second term is the sum frequency response 

Numerical studies

In practical engineering, some systems have an accurate equation of motion  Additionally, some systems have difficulty constructing their equations of motion because of complex nonlinear dynamic behaviours and uncertain system parameters  In this article, a system with a known equation of motion is called a known system, and a system with an unknown equation of motion is called an unknown system for simplicity 
In this section, two numerical studies are presented  The first study verifies the proposed method using a known nonlinear oscillator, and the second study demonstrates the applicability of the proposed method to an unknown system  Throughout the numerical studies, the unit system is the metre-kilogramme-second (MKS) system; for conciseness, explicit units for quantities are omitted 

A known nonlinear system

This study chooses a nonlinear oscillator written as: where mass m = 1, damping c = 1, linear stiffness k 1 = 10, quadratic stiffness k 2 = 20 and cubic stiffness k 3 = 20  It is a case that has been studied in a previously published article   The linear natural frequency of the system ω 0 = k 1 /m = 3 16 and the damping ratio ζ = c/(2mω 0 ) = 15 8% 
This kind of oscillator occurs in many engineering problems, such as a model of fluid resonance in a narrow gap between large vessels   In the model, k 1 y represents the linear restoring force of the fluid, and k 2 y 2 and k 3 y 3 are respectively the quadratic and cubic nonlinear restoring forces of the fluid 

Volterra kernel functions

Generally, the first several order responses dominate the total response of a system  Hence, the order of the Volterra series in Eq  22 is chosen to be 3, namely, N = 3  For computing the first three order responses from Eq  22, the first three order Volterra kernel functions need to be known  Since Volterra kernel functions and corresponding frequency response functions are related by a specific Fourier transform pair, we can first write the first three orders of frequency response functions directly from Eq  28 
Then, Volterra kernel functions are obtained by the inverse Fourier transform  Based on the harmonic probing algorithm , the linear frequency response function (LFRF) H 1 (ω), the quadratic frequency response function (QFRF) H 2 (ω 1 , ω 2 ) and the cubic frequency response function (CFRF) H 3 (ω 1 , ω 2 , ω 3 ) are analytically given by:
and Figures show H 1 (ω), H 2 (ω 1 , ω 2 ) and H 3 (ω 1 , ω 2 , ω 3 ), respectively, which agree well with those reported in Ref    As expected, the modulus of H 1 (ω) in Fig  peaks near the linear natural frequency ω 0 , and the phase angle decreases monotonically from 0 to -π with increasing frequency 
Figure shows the sum frequency QFRF, where the energy converges along the line of ω 1 +ω 2 ≈ ω 0   Therefore, when the sum frequency of a two-tone excitation equals the linear resonant frequency, the second-order response may reach its maximum  Additionally, those pairs of excitations in line ω 1 + ω 2 ≈ ω 0 may produce non-negligible vibration magnitudes due to second-order nonlinear effects 
For the difference frequency QFRF in Fig  (b), the energy converges along two main lines, i e , ω 1 ≈ ω 0 and ω 2 ≈ ω 0   Figures show moduli of H 3 (ω, ω, ω) and H 3 (ω, ω, −ω), which are diagonal terms of the sum frequency CFRF and the difference frequency CFRF, respectively  While the modulus of H 3 (ω, ω, ω) peaks near ω ≈ ω 0 /3 and ω 0 , that of H 3 (ω, ω, −ω) peaks near ω ≈ ω 0 with a small hump around ω ≈ ω 0 /2 
Values at ω ≈ ω 0 /3 and ω 0 /2 may be magnified by higher-order stiffness terms in Eq  28  By performing the inverse fast Fourier transform to Eqs  29-31, the corresponding linear impulse response function h 1 (t), quadratic impulse response function h 2 (t 1 , t 2 ) and cubic impulse response function h 3 (t 1 , t 2 , t 3 ) are obtained 
Here, h 1 (t) and h 2 (t 1 , t 2 ) are plotted in Figs  , respectively, and h 3 (t, t, t) is shown in Fig    In the numerical implementation, Eqs  29-31 have been utilized with the frequency interval ∆ω = 0 1, number of frequency components N n = 1025, and cut-off frequencies 102 4 and −102 4  For decoupling Volterra kernel functions by using Laguerre polynomials, the damping rate and number of Laguerre polynomials for each order Volterra kernel function need to be determined (see Eqs  4 and 6) 
In this example, we set a 1 = a 2 = a 3 = 2 and R 1 = R 2 = R 3 = 24 because coefficients c p 1    pn become very small when R n > 24, n = 1, 2, 3  According to Eq  7, the coefficients of the first three order Volterra kernel functions are calculated, which are shown in Figs  9 and 10  For convenience, Fig  plots only c p 1 p 2 p 3 for p 3 = 0 
With the increase of the order of Laguerre polynomials, coefficients in Figs  9 and 10 gradually decrease, which illustrates how the first several orders of Laguerre polynomials dominate all orders of the Volterra kernel function  With the known Laguerre polynomials and corresponding coefficients, Volterra kernel functions are reconstructed by Eq  6 
For comparison, reconstructed Volterra kernel functions are also plotted in Figs    The reconstructed results agree well with the analytical values, which verifies the accuracy of the decomposition 

Sinusoidal excitation

From Eq  28, we consider a sinusoidal excitation where A and Ω are the amplitude and the frequency, respectively  Five cases of A and Ω are shown in Table   Excitation frequencies in Cases 1 and 2 are larger than the linear natural frequency (ω 0 ≈ 3 16), those in Case 3 are very close to ω 0 , and those in Cases 4 and 5 are smaller than ω 0  
All cases have same amplitudes  The poles of a sinusoidal excitation are λ 1,2 = ±iΩ, and the residues are α 1,2 = ∓iA/2  Numerical values of excitation poles and residues for different cases are listed in Table   Table : Parameter values, poles and residues of the sinusoidal excitation Substituting poles and residues of the excitation, as well as those of the system into Eqs 
20 and 19, response coefficients β p i ,k corresponding to system poles −a i and response coefficients γ p i ,ℓ corresponding to excitation poles λ ℓ are calculated, respectively  According to Eq  22, the first three orders of responses for each case in Table are calculated  Figures )-15(a) show the comparison of responses obtained by the proposed method and the fourth-order Runge-Kutta method with ∆t = 10 −4  
For Cases 1 and 2, the first-order responses agree well with the total responses obtained by the Runge-Kutta method, and the higher-order responses only slightly improve the transient parts  For Cases 3-5, the sum of the first three orders of responses is in good agreement with the Runge-Kutta solution 
When the response nonlinearity increases, higher-order responses need to be considered  In other words, the proposed method can accurately compute the nonlinear responses by choosing a small number N of Volterra series terms  Figures )-15(b) show the contributions of the three response components for the five cases 
In each case, the first-order response is the most dominant component, and the contributions of secondand third-order responses are much less than those of the first-order response  Especially for Cases 1 and 2, whose excitation frequencies are far from the linear natural frequency, second-and thirdorder responses are close to zero 
This may be because the QFRF and CFRF approach zero when the frequency is larger than 4 rad/s (see Figs  )  Furthermore, the mean values of the first-order responses are approximately zero, and those of the second-order responses are always smaller than zero, which are the difference frequency components in Eq  27 
Moreover, it is clearly observed that second-order responses for Cases 3-5 exhibit a periodic oscillation with a period near half of that for the first-order response, which is excited by the sum frequency component of the excitation (see second part of Eq  27)  Compared with steady-state solutions of first-and second-order responses, those of third-order responses in Cases 3-5 are no longer single regular motions 
By performing the FFT, frequency spectra of these three third-order responses are shown in Fig    We find that these three third-order responses are all dominated by their own fundamental harmonic component and the third harmonic (triple frequency) component  Figure shows the computational time to calculate the response of the oscillator for Case 1 by the proposed method, the fourth-order Runge-Kutta method and the convolution method 
The proposed method, which has an explicit solution, is much more efficient in computational time than the latter two methods, which need small time steps to obtain high-precision solutions  In particular, the efficiency of the proposed method increases with the length of the response time  Computation time (sec )
t=0 02s Convolution, t=0 02s Convolution, t=0 001s Runge-Kutta, t=0 001s Fig  : Comparison of computation efficiency of the proposed method, the fourth-fifth order Runge-Kutta method and the convolution method regular loading in Case 1

Irregular excitation

In Eq  28, considering an irregular excitation consisting of several cosine functions where N f is the number of cosine components; A n , Ω n and θ n are the amplitude, frequency and phase angle of the n th component, respectively  Table lists three cases of these parameters  In each case, the amplitudes of all components are the same, and phase angles θ n uniformly distributed between 0 and 2π are randomly generated 
To decompose the excitation into a pole-residue form, the Prony-SS method is used, whose concept is similar to that of a principal component method  The readers are referred to Ref  for details  The chosen rank of each case is also shown in Table   Figure shows the comparison of original excitations and reconstructed results of these three cases, which all have excellent agreement 
show the results computed by the fourth-order Runge-Kutta method  In all cases, the sums of the first three orders of responses agree well with those obtained by the Runge-Kutta method  The contributions of the first three orders of responses for each case are plotted in Figs  )-21(b)  Similarly, the system vibration is dominated by the first-order response 
However, the contributions of second-and third-order significantly grow with increasing excitation magnitude and frequency number  Furthermore, when the magnitude of the nonlinear response becomes large, sharp troughs are present  This phenomenon may be induced by the nonlinear stiffness  While the first-order response fails to capture these troughs, the higher-order responses successfully capture these troughs 
Figure plots the computational time to calculate the response of the oscillator for the irregular loading in Case 1 by the proposed method and the fourth-fifth order Runge-Kutta method, respectively  While the fourth-fifth order Runge-Kutta method is more efficient under a small response length, the proposed method becomes much more efficient when the response length is larger than about 130 s 
In addition, the proposed method obtains the explicit response solution, so one can directly obtain the response value at a specific time t p instead of integrating from 0 to t p for traditional numerical methods  Computation time (sec ) Proposed, t=0 02s Runge-Kutta, t=0 001s Fig  : Comparison of computation efficiency of the method and the fourth-fifth order Runge-Kutta method for irregular loading in Case 1

An unknown nonlinear

To check the applicability of the proposed method to an unknown nonlinear system, a known input excitation and its corresponding response are used to identify its Volterra kernel functions  When the Volterra kernel functions are known, we can follow the procedure in Section 4 1 to predict system responses 
In this study, the input excitation is white noise with a constant power spectrum S 0 = 0 001, and the corresponding response is obtained by solving Eq  28 by the fourth-order Runge-Kutta method, which is shown in Fig    From Section 4 1, we determine that the sum of the first two orders of responses agrees well with the total response 
In this study, the order of Volterra series N is chosen to be 2, damping rates of Laguerre polynomials are a 1 = a 2 = 2, and numbers of Laguerre polynomials are R 1 = R 2 = 24  To estimate the first two orders of Volterra kernel functions, a matrix equation is constructed using excitation data and response data 
By using the least square method to solve this matrix equation, coefficients c p 1 and c p 1 p 2 in Eq  8 are identified  Figure plots c p 1 and c p 1 p 2 , respectively, which have good agreement with the exact results in Fig    Then, the first two order Volterra kernel functions are constructed by Eq  6 
Compared with the exact results in Figs  , the identified Volterra kernel functions in Fig  completely agree well with the exact solutions  Note that the white noise excitation, which can excite more frequency components of the response, is chosen to obtain good Volterra kernel functions  A regular excitation f (t) = sin(πt) and an irregular excitation f (t) = N f n=1 A n cos(Ω n t + θ n ) with A n = 0 3 and Ω n varying from 0 to 40 with equal interval 1 are chosen as input excitations 
The predicted responses, along with results obtained by the fourth-order Runge-Kutta method, are shown in Fig    In both cases, the proposed method accurately predicts system responses  As presented in Eq  23, a nonlinear response is the sum of three terms: natural response y s (t), forced response y f (t) and cross response y c (t) 
These individual terms, as well as their sum to two excitations, are shown in Figs  27 and 28, respectively  As shown in Figs  and 28, both first-and second-order responses include the natural response y s (t) and the forced response y f (t), but the cross response y c (t) only exists in second-order responses 
When t becomes larger, both y s (t) and y c (t) diminish due to the presence of system damping, and the total response is entirely governed by y f (t)  Moreover, we notice some features at t = 0 for these components, including y s (0) = −y f (0) for the first-order response and y s (0) + y f (0) = −y c (0) for the second-order response, which are due to imposed zero initial conditions 

Conclusions

Considering arbitrary irregular excitations, an efficient generalized pole-residue method to compute the nonlinear dynamic response modelled by the Volterra series was developed  A core of the proposed method was obtaining poles and corresponding coefficients of Volterra kernel functions, then those of each order response modelled by each order Volterra series 
Once the poles and corresponding coefficients of Volterra kernel functions and excitations were both available, the remaining derivation could follow a similar pole-residue method that had been developed for ordinary linear oscillators  To obtain the poles and corresponding coefficients of Volterra kernel functions, two steps were included: (1) using Laguerre polynomials to decouple higher-order Volterra kernel functions with respect to time and (2) obtaining poles and corresponding coefficients of Laguerre polynomials in the Laplace domain 
Because the proposed method gave an explicit, continuous response function of time, it was much more efficient than traditional numerical methods  Moreover, many meaningful physical and mathematical insights were gained because not only each order response but also the natural response, the forced response and the cross response of each order were obtained in the solution procedure 
To demonstrate that the proposed method was not only suitable for a system with a known equation of motion but also applicable to a system with an unknown equation of motion, two numerical studies were conducted  For each study, regular excitations and complex irregular excitations with different parameters were investigated 
The efficiency of the proposed method was verified by the fourth-order Runge-Kutta method  This paper only computes the response under zero initial conditions  The response under non-zero initial conditions will be investigated in our future work 



ground_truth: The maximum velocity scales with the square root of the amplitude.

prompt_front: Now, answer the following question based on the text below, only give me the answer and do not output any other words.

Question: What is the name of the generative interactive model used in the method?

Read the following text and answer briefly.

Context 2: 49\linewidth}
            \centering
            \includegraphics[width=4 9cm]{Results/ObservedRFsignal_Veh2_reference}
            \\[-1 5mm]
            {\scriptsize (c)}
        \end{minipage}
        \caption{An example visualizing the received RF signals from the two vehicles and the corresponding trajectories: (a) Vehicles' trajectories, (b) received RF signal from vehicle 1, (c) received RF signal from vehicle 2 }
        \label{fig_receivedRFsignalandTrajectory}
    \end{center}
\end{figure}
\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 49\linewidth}
            \centering
                \includegraphics[width=4 5cm]{Results/clusters_trajectory_veh1}
            \\[-1 5mm]
            {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{ 49\linewidth}
            \centering
                \includegraphics[width=4 5cm]{Results/clusters_trajectory_veh2}
            \\[-1 5mm]
            {\scriptsize (b)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 5cm]{Results/clusters_RFsignal_veh1}
            \\[-1 5mm]
            {\scriptsize (c)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 5cm]{Results/clusters_RFsignal_veh2}
            \\[-1 5mm]
            {\scriptsize (d)}
        \end{minipage}
       
        \caption{GNG output after clustering the generalized errors obtained from different experiences: (a) clustered trajectory of vehicle 1, (b) clustered trajectory of vehicle 2, (c) clustered RF signal received from vehicle 1, (d) clustered RF signal received from vehicle 2 }
        \label{fig_GNG_of_receivedRFsignalandTrajectory}
    \end{center}
\end{figure}

The RSU aims to learn multiple interactive models (i e , C-GDBN models) encoding the cross relationship between the received RF signal from each vehicle and its corresponding trajectory  These models allow the RSU to predict the trajectory the vehicle will follow based on the received RF signal and evaluate whether the V2I is under jamming attacks or the satellite link is under spoofing  It is to note that the RSU is receiving only the RF signals from the two vehicles and obtaining their positions after decoding the RF signals  Thus, the RSU should be able to evaluate if the received RF signals are evolving according to the dynamic rules learned so far and if the vehicles are following the expected (right) trajectories to decide whether the V2I links are really under attack or whether the satellite link is under spoofing 

Fig ~\ref{fig_receivedRFsignalandTrajectory}-(a) illustrates an example of the interaction between the two vehicles performing a particular manoeuvre, and Fig ~\ref{fig_receivedRFsignalandTrajectory}-(b) shows the received RF signals by the RSU from the two vehicles  At the beginning of the learning process, RSU performs predictions according to the simplified model defined in \eqref{eq_continuousLevel} where $\mathrm{U}_{\mathrm{\Tilde{S}_{t}}^{(i)}} {=} 0$ 
After obtaining the generalized errors as pointed out in \eqref{GE_continuousLevel_initialModel}, RUS clusters those errors using GNG to learn two GDBN models encoding the dynamic rules of how the RF signal and the GPS signal evolve with time, respectively, as showed in Fig ~\ref{fig_GNG_of_receivedRFsignalandTrajectory} and Fig ~\ref{fig_graphicalRep_transitionMatrices}  RSU can couple the two GDBNs by learning the interactive transition matrix that is encoded in a C-GDBN as shown in Fig ~\ref{fig_interactiveMatrices} 
\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 49\linewidth}
            \centering
                \includegraphics[width=4 5cm]{Results/graphTransition_Trajectory_veh1}
            \\[-1 5mm]
            {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{ 49\linewidth}
            \centering
                \includegraphics[width=4 5cm]{Results/graphTransition_Trajectory_veh2}
            \\[-1 5mm]
            {\scriptsize (b)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 5cm]{Results/graphTransition_RFsignal_veh1}
            \\[-1 5mm]
            {\scriptsize (c)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 5cm]{Results/graphTransition_RFsignal_veh2}
            \\[-1 5mm]
            {\scriptsize (d)}
        \end{minipage}
        \caption{Graphical representation of the transition matrices (TM): (a) TM related to the trajectory of vehicle 1, (b) TM related to the trajectory of vehicle 2, (c) TM related to the RF signal received from vehicle 1, (d) TM related to the RF signal received from vehicle 2 }
        \label{fig_graphicalRep_transitionMatrices}
    \end{center}
\end{figure}
\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 49\linewidth}
            \centering
                \includegraphics[width=3 8cm]{Results/interactiveMatrix_RFtoGPS_Neu5_veh1}
            \\[-1 0mm]
            {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=3 8cm]{Results/interactiveMatrix_RFtoGPS_Neu25_veh1}
            \\[-1 0mm]
            {\scriptsize (d)}
        \end{minipage}
       
        \caption{Interactive transition matrix defined in \eqref{interactiveTM_fromRFtoGPS} using different configurations: (a) $\mathrm{M_{1}}=5$, $\mathrm{M_{2}}=5$, (b) $\mathrm{M_{1}}=25$, $\mathrm{M_{2}}=25$ }
        \label{fig_interactiveMatrices}
    \end{center}
\end{figure}
\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 49\linewidth}
        \centering
            \includegraphics[width=4 9cm]{Results/RF_situation1_best_veh1}
        \\[-1 5mm]
        {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 9cm]{Results/RF_situation1_worst_veh1}
            \\[-1 5mm]
            {\scriptsize (b)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 9cm]{Results/RF_situation1_best_veh2}
            \\[-1 5mm]
            {\scriptsize (c)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 9cm]{Results/RF_situation1_worst_veh2}
            \\[-1 5mm]
            {\scriptsize (d)}
        \end{minipage}
        \caption{An example visualizing the predicted and observed RF signals transmitted by the 2 vehicles using different configurations  Predicted RF signal from: (a) vehicle 1 using $\mathrm{M_{1}}{=}5$, $\mathrm{M_{2}}{=}5$, (b) vehicle 1 using $\mathrm{M_{1}}{=}25$, $\mathrm{M_{2}}{=}25$, (c) vehicle 2 using $\mathrm{M_{1}}{=}5$, $\mathrm{M_{2}}{=}5$, (d) vehicle 2 using $\mathrm{M_{1}}{=}25$, $\mathrm{M_{2}}{=}25$ }
            \label{fig_situation1_PredictedRF}
    \end{center}
\end{figure}

\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 49\linewidth}
        \centering
            \includegraphics[width=4 8cm]{Results/GPSfromRF_situation1_best}
        \\[-1 0mm]
        {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 8cm]{Results/GPSfromRF_situation1_worst}
            \\[-1 0mm]
            {\scriptsize (b)}
        \end{minipage}
        %
        \caption{An example visualizing the predicted and observed trajectories of two vehicles interacting in the environment  (a) $\mathrm{M_{1}}{=}5$, $\mathrm{M_{2}}{=}5$, (b) $\mathrm{M_{1}}{=}25$, $\mathrm{M_{2}}{=}25$ }
            \label{fig_situation1_VehiclesTrajectories}
    \end{center}
\end{figure}

\begin{figure}[ht!]
    \begin{center}
        \begin{minipage}[b]{ 49\linewidth}
        \centering
            \includegraphics[width=4 8cm]{Results/rmse_on_trajectory}
        \\[-1 0mm]
        {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{0 49\linewidth}
            \centering
            \includegraphics[width=4 8cm]{Results/rmse_on_RFSignal}
            \\[-1 0mm]
            {\scriptsize (b)}
        \end{minipage}
        \caption{The average RMSE after testing different experiences and examples of: (a) trajectories and (b) RF signals }
            \label{fig_rmse_onTraj_onSig}
    \end{center}
\end{figure}

Fig ~\ref{fig_situation1_PredictedRF} illustrates an example comparing between predicted RF signals and observed ones based on two different configurations in learning the interactive matrix (as shown in Fig ~\ref{fig_interactiveMatrices})  Also, Fig ~\ref{fig_situation1_VehiclesTrajectories} illustrates an example comparing between the predicted and observed trajectories of the two vehicles using the two interactive matrices depicted in Fig ~\ref{fig_interactiveMatrices}  From Fig ~\ref{fig_situation1_PredictedRF} and Fig ~\ref{fig_situation1_VehiclesTrajectories} we can see that using an interactive matrix with less clusters allows to perform better predictions compared to that with more clusters  This can be validated by observing Fig ~\ref{fig_rmse_onTraj_onSig} that illustrates the RMSE values versus different number of clusters related to the two models representing the dynamics of the received RF signals and the vehicles' trajectories  It can be seen that as the number of clusters increases the RMSE error increases, since adding more clusters decreases the firing probability that explains the possibility to be in one of the $M_{2}$ clusters of the second model conditioned in being in a certain cluster of the first model 

Fig ~\ref{fig_exNormal_Spoofed_JammedTrajectories} illustrates an example of vehicle's trajectory under normal situation (i e , jammer and spoofer are absent), under jamming attacks and under spoofing attacks  Also the figure shows the predicted trajectory which should follow the same dynamic rules learned during a normal situation  After that, we implemented the IM-MJPF on the learned C-GDBN to perform multiple predictions, i e , to predict the RF signal that the RSU is expecting to receive from a certain vehicle and the corresponding trajectory that the vehicle is supposed to follow  IM-MJPF through the comparison between multiple predictions and observations, produces multiple abnormality signals as defined in \eqref{eq_CLA1} and \eqref{eq_CLA2} which are used to detect the jammer and the spoofer 

Fig ~\ref{fig_abnormalitySignals_JammerSpoofer} illustrates the multiple abnormality signals related to the example shown in Fig ~\ref{fig_exNormal_Spoofed_JammedTrajectories}  We can observe that the abnormal signals related to both RF signal (Fig ~\ref{fig_abnormalitySignals_JammerSpoofer}-(a)) and trajectory (Fig ~\ref{fig_abnormalitySignals_JammerSpoofer}-(b)) are below the threshold under normal situations  This proves that RSU learned the correct dynamic rules of how RF signals and trajectories evolve when the jammer and spoofer are absent (i e , under normal situations)  Also, we can see that the RSU can notice a high deviation on both the RF signal and the corresponding trajectory due to a jamming interference from what it has learned so far by relying on the abnormality signals  In contrast, we can see that under spoofing attacks, RSU notice a deviation only on the trajectory and not on the RF signal since the spoofer has affected only the positions without manipulating the RF signal  In addition, it is obvious how the proposed method allows the RSU to identify the type of abnormality occurring and to explain the cause of the detected abnormality (i e , understanding if it was because of a jammer attacking the V2I link or a spoofer attacking the satellite link) 
\begin{figure}[t!]
    \centering
    \includegraphics[width=6 5cm]{Results/trajectories_underJamming_andSpoofing}
   
    \caption{Vehicle's trajectory under: normal situation, jamming and spoofing }
    \label{fig_exNormal_Spoofed_JammedTrajectories}
\end{figure}
\begin{figure}[t!]
    \begin{center}
        \begin{minipage}[b]{ 92\linewidth}
        \centering
            \includegraphics[height=2 6cm]{Results/abnSignal_onRF}
        \\[-1 5mm]
        {\scriptsize (a)}
        \end{minipage}
        \begin{minipage}[b]{ 92\linewidth}
            \centering
            \includegraphics[height=2 6cm]{Results/abnSignal_onGPS}
            \\[-1 5mm]
            {\scriptsize (b)}
        \end{minipage}
        %
        \caption{Abnormality Signals related to the example shown in Fig \ref{fig_exNormal_Spoofed_JammedTrajectories}: (a) abnormality indicators related to the RF signal, (b) abnormality indicators related to the trajectory }
            \label{fig_abnormalitySignals_JammerSpoofer}
    \end{center}
\end{figure}
\begin{figure}[t!]
    \centering
    \includegraphics[height=3 2cm]{Results/Detection_Probability_RFfromGPS_versusPj}
    \caption{Detection probability ($\mathrm{P_{d}}$) versus jammer's power ($\mathrm{P_{J}}$) using different number of clusters $\mathrm{M}_{2}$ }
    \label{fig_jammerDetectionProb}
\end{figure}
\begin{figure}[t!]
    \centering
    \includegraphics[height=3 2cm]{Results/spoofingDetectionProbability_falseAlarm_versusM2}
    \caption{Spoofing detection probability ($\mathrm{P}_{d}^{s}$) and spoofing false alarm ($\mathrm{P}_{f}^{s}$) versus the number of clusters $\mathrm{M}_{2}$ }
    \label{fig_spooferDetectionProb}
\end{figure}

Fig ~\ref{fig_jammerDetectionProb} shows the overall performance of the proposed method in detecting the jammer by testing many situations and examples and by considering different jamming powers which ranges from $20$dBm to $40$dBm  It can be seen that the proposed method is able to detect the jammer with high probabilities (near $1$) and by considering low and high jamming powers  Also, the figure compares the performance in detecting the jammer by varying the number of clusters ($M_{2}$) 
Fig ~\ref{fig_spooferDetectionProb} shows the overall performance of the proposed method in detecting the spoofer by testing different different examples of driving maneuvers  It can be seen that the RSU is able to detect the spoofer with high detection probability and null false alarm versus different number of clusters 

\section{Conclusion}
A joint detection method of GPS spoofing and jamming attacks is proposed  The method is based on learning a dynamic interactive model encoding the cross-correlation between the received RF signals from multiple vehicles and their corresponding trajectories  Simulation results show the high effectiveness of the proposed approach in jointly detecting the GPS spoofer and jammer attacks  
Subsequent work will extend the system model to consider more than two vehicles with different channel conditions and various modulation schemes to evaluate the effectiveness of the proposed method 

\bibliographystyle{IEEEtran}




ground_truth: The generative interactive model used in the method is called the Coupled Generalized Dynamic Bayesian Network (C-GDBN).

prompt_front: Now, answer the following question based on the text below, only give me the answer and do not output any other words.

Question: What does the paper aim to solve?

Read the following text and answer briefly.

Context 4:  Exogenous transgene and endogenous retroviruses are upregulated in Met/Cys-deprived HeLa cells 
(A,B) Exogenous integrated transgene (OA1) mRNA abundance in HeLa-OA1 cells, cultured in Met/Cys-deprived medium for the indicated time points, and analyzed by RNAseq (A), or RT-qPCR (B), compared to full medium  Data represent RPKM (A), or mean ± SD of 2 technical replicates, expressed as fold change vs  control (full medium at 6 h = 1) (B)  (C) Clustering of 172 genomic repeat subfamilies, differentially expressed upon starvation, according to their expression profile  (D) Class distribution of repeat subfamilies belonging to differential expression clusters, compared to all genomic repeat subfamilies (first column)  Class DNA includes DNA transposons; SINE includes Alu; LINE includes L1 an L2; LTR includes endogenous retroviruses and solitary LTRs; Satellite includes centromeric acrosomal and telomeric satellites; Others includes SVA, simple repeats, snRNA, and tRNAs  LTR-retroelements are significantly enriched among repeats that are upregulated upon starvation, while LINEs are significantly enriched among repeats that are downregulated  *P<0 05, ***P<0 001 (Fisher exact test) 
As shown in Fig 1C, the clustering of differentially expressed repeats, according to their expression pattern, reveals profiles comparable to the behavior of the transgene in the same conditions, i e  upregulation upon starvation and no change in regular medium (Cluster 1 and 2)  In particular, Cluster 1 contains sequences that, similarly to the OA1 transgene, are progressively upregulated upon starvation (Fig 1A and 1C) , while Cluster 2 contains sequences that are upregulated at early time points  Interestingly, repeat families that are significantly enriched in these two clusters belong mostly to the group of LTR-retrotransposons, including ERV1, ERVK, ERVL, ERVL-MaLR and other LTR sequences (Fig 1D; S1A and S2A Figs)  By contrast, DNA transposons (such as TcMar-Tigger) and L1 non-LTR retrotransposons are enriched among repeats that are downregulated during starvation, particularly at late time points (Clusters 3 and 4) (Fig 1D; S1A and S2A Figs)  Consistent results were obtained by selecting significantly up- or downregulated genomic repeats (overall 181 species), based on their average expression out of three time points of starvation (15-30-72 h, when the transgene upregulation is more homogeneous) and controls, and on a P value <0 05 (S1B and S2B Figs)  These findings suggest that EAA starvation induces genome-wide effects involving repetitive elements, and that—among major repeat classes—it upregulates in particular the expression of ERVs 
In addition, to obtain a general overview of main gene pathways changing their expression together with the transgene during AA starvation, we performed gene expression and enrichment analyses of regular genes, by considering three time points of starvation (15-30-72 h) and controls  Differentially expressed genes were selected based on a P value <0 05 and a fold change between means of at least 2, and analyzed with the EnrichR tool   As shown in Fig 2 and S1 File, enrichment analyses against the KEGG and Reactome databases reveals a predominance of downregulated pathways, namely ribosome and translation, proteasome, AA metabolism, oxidative phosphorylation and other pathways related to mitochondrial functions, which are affected in Huntington, Alzheimer and Parkinson diseases (http://www genome jp/kegg/pathway html)  In particular, a large fraction of ribosomal protein mRNAs is downregulated upon Met/Cys starvation (Fig 2A and 2C; S1 File), consistent with the notion that their genes–despite being scattered throughout the genome—are coordinately expressed in a variety of conditions   This reduced expression may depend on multiple pathways that control ribosome biogenesis in response to external stimuli, including the downregulation of Myc activity , the downregulation of mTORC1 [42, 44], or possibly the activation of the ISR, as described in yeast   By contrast, upregulated genes show a significant enrichment for transcription and gene expression (Fig 2B)  Similar results were obtained by the Gene Ontology Biological Process (GO-BP) database (S1 File), overall indicating a general downregulation of translation and metabolism, and upregulation of transcription, during the time interval of Met/Cys starvation corresponding to the transgene upregulation 
Fig 2  Gene set enrichment analysis of Met/Cys-deprived HeLa cells 
Differentially expressed genes between three time points of starvation (15-30-72 h) and controls were selected based on a P value <0 05 and a fold change of at least 2, leading to a total of 996 upregulated, and 1037 downregulated genes  The enrichment analysis was performed separately for up and down regulated genes, using the EnrichR tool and the KEGG (A) and REACTOME (B, C) databases  Ranking is based on the combined score provided by EnrichR, and categories are displayed up to 20 items with an Adjusted P value <0 05  No significant categories were found with upregulated genes against the KEGG database  All data are shown in S1 File  The enrichment analysis using all differentially expressed genes together did not reveal any additional enriched process 
To characterize the pathway leading to the reactivation of silenced transgenes, we used HeLa-OA1 and HeLa-GFP cells, as described   In addition, to test cell types relevant for AA metabolism, such as liver and muscle, we generated clones of HepG2 human hepatoma and C2C12 mouse skeletal muscle cells, stably transfected with plasmids for OA1 and GFP transgenes, respectively (HepG2-OA1 and C2C12-GFP cells; endogenous OA1 is not expressed in any of these cell types)  In all cases, the integrated transgenes are under the control of the CMV promoter in the context of a pcDNA3 1 plasmid, are partially silenced, and can be efficiently upregulated by HDAC inhibitors (trichostatin A, TSA; ref   and S3A, S3B and S4A Figs), indicating that their expression is controlled at least in part by epigenetic mechanisms, as previously described  
To establish whether the reactivation response results from the shortage of specific AAs only, such as Met/Cys, or it is triggered by any AA deprivations, we cultured HeLa-OA1, HeLa-GFP, HepG2-OA1 and C2C12-GFP cells for 24–48 hours with a battery of media deprived of EAAs or semi-EAAs, including Met/Cys, Thr, Gln, Val, Leu, Tyr, Trp, Lys, and His  As negative controls, cells were cultured in full medium, carrying the entire AA complement, and in a medium deprived of Ala, a non-essential AA  The expression of the transgene transcript was then evaluated by RT-qPCR  As shown in Fig 3, and in S3C and S4B Figs, most EAA-deficiencies induced reactivation of the OA1 or GFP transgenes in all four cell lines, with the notable exception of Trp deprivation, which consistently resulted in no or minimal reactivation of the transgenes  Indeed, despite some variability, Met/Cys deficiency, but also Thr, Val, Tyr, and His deprivation always gave an efficient response, while Leu, Gln and Lys elicited evident responses in some cases, but not in others  Depletion of Phe gave results comparable to Tyr deprivation, however it significantly altered multiple reference genes used for normalization and therefore was eventually omitted from the analysis (not shown)  Finally, in the above experiments we used a combined Met/Cys deficiency, to avoid the potential sparing of Met by Cys  and for consistency with our previous studies   Nevertheless, the analysis of single Met or Cys starvation, both at the protein and transcript levels, revealed an exclusive role of Met deprivation in transgene reactivation, consistent with the notion that Cys is not an EAA (S3D and S3E Fig) 
Fig 3  EAA deprivation induces reactivation of silent transgenes in HeLa and HepG2 cells 
Relative transgene (OA1) and CHOP mRNA abundance in HeLa-OA1 (A) and HepG2-OA1 (B) cells, cultured in various AA-deprived media for 48 h and 24 h, respectively, compared to full medium  Mean ± SEM of 3 independent experiments  Data are expressed as fold change vs  control (full medium = 1)  *P<0 05, **P<0 01, ***P<0 001 (one way ANOVA, followed by Dunnett’s post-test vs  full medium) 
Collectively, these results indicate that transgene reactivation by EAA starvation is reproducible with most EAAs, shared by different cell types (epithelium, liver, and skeletal muscle), and conserved in different mammalian species (human, mouse) 
mTORC1 inhibition and GCN2 activation trigger the best-known signaling pathways responding to AA starvation   We previously showed that inhibition of mTORC1 is not sufficient to reproduce transgene reactivation in HeLa cells   By contrast, the involvement of GCN2 and the ISR, including the downstream effectors ATF4 and CHOP, has never been tested  In addition, this pathway has been typically assessed in transient assays, lasting for a few hours, which may not be comparable with the prolonged starvation conditions necessary to reactivate the transgene expression (at least 15–24 h)  Thus, we tested whether CHOP expression was upregulated upon incubation of HeLa-OA1, HepG2-OA1 and C2C12-GFP cells in media deprived of different EAAs for 24–48 h 
As shown in Fig 3 and S4B Fig, we found that CHOP expression is increased in all EAA-starvation conditions, but not in the absence of Ala, in all tested cell lines  Similar, yet less pronounced, results were obtained with ATF4, consistent with the notion that activation of this transcription factor is mainly mediated by translational upregulation (not shown) [15, 26]  However, the upregulation of CHOP does not parallel quantitatively that of the transgene, neither appears sufficient to induce it  In fact, CHOP is highly upregulated even upon Trp starvation, which consistently results in no or minimal reactivation of the transgenes (compare CHOP with OA1 or GFP expression; Fig 3 and S4B Fig)  Thus, while the ISR appears widely activated upon EAA starvation, the upregulation of its downstream effector CHOP only partly correlates with transgene reactivation and may not be sufficient to induce it 
The activation of the ISR upon AA starvation suggests that GCN2 may be involved in the transgene reactivation response  Therefore, we tested whether direct pharmacological activation of this kinase is sufficient to trigger the transgene reactivation similarly to starvation  In addition, we used pharmacological inhibitors of mTOR to corroborate previous negative results in HeLa cells  in the other cell lines under study  To this aim, HeLa-OA1 or GFP, HepG2-OA1 and C2C12-GFP cells were cultured in the presence of different concentrations of PP242 (mTOR inhibitor) or L-Histidinol (GCN2 activator, inhibiting tRNAHis charging by histidyl-tRNA synthetase), either alone or in combination for 24 h, compared to Met/Cys-deprived and full medium  As shown in Fig 4 and S5 Fig, while inhibition of mTORC1 consistently leads to minor or no effects, in agreement with previous findings , treatment with L-Histidinol results in efficient reactivation of the transgene in HepG2-OA1 and C2C12-GFP cells, but not in HeLa cells 
Fig 4  mTOR inhibition and GCN2 activation differently affect transgene expression in HeLa and HepG2 cells 
Relative transgene (OA1) and CHOP mRNA abundance in HeLa-OA1 (A) and HepG2-OA1 (B) cells, cultured in Met/Cys-deprived medium, or in the presence of PP242 (mTOR inhibitor; 1–3 μM) or L-Histidinol (HisOH, GCN2 activator; 4–16 mM), either alone or in combination for 24–48 h, compared to full medium  Mean ± SEM of 4 (A) or 3 (B) independent experiments  Data are expressed as fold change vs  control (full medium = 1)  *P<0 05, **P<0 01, ***P<0 001 (one way ANOVA, followed by Dunnett’s post-test vs  full medium)  PP-1 and PP-3, PP242 at 1 and 3 μM, respectively; HisOH-4 and HisOH-16, L-Histidinol at 4 and 16 mM, respectively 
Specifically, L-Histidinol is not effective in HeLa-OA1 and HeLa-GFP cells, either alone or in combination with PP242 (Fig 4A and S5A Fig), or by using different concentrations of the drug, with or without serum (not shown)  In these cells, L-Histidinol appears also unable to trigger the ISR, as indicated by lack of CHOP upregulation, possibly due to their different sensitivity to the drug  These findings are consistent with previous reports, describing the use of L-Histidinol in HeLa cells in conditions of low His concentration in the culture medium , which would resemble AA starvation in our system and therefore may not be applicable  Thus, even though the amount of the amino alcohol was adapted to exceed 20 to 80 times that of the amino acid, as described , HeLa cells may be resistant or able to compensate 
In contrast, in other cell types, L-Histidinol has been utilized in regular DMEM, to mimic the AA response triggered by DMEM lacking His [48, 49]  Consistently, in HepG2-OA1 cells, L-Histidinol is sufficient to elicit extremely high levels of transgene reactivation, and its combination with PP242 results in additive or even synergistic effects, possibly due to an indirect effect of mTOR inhibition on GCN2 activity (Fig 4B) [50, 51]  Similarly, C2C12-GFP cells efficiently reactivate the transgene upon treatment with L-Histidinol, but not PP242 (S5B Fig)  However, differently from HepG2-OA1 cells, simultaneous treatment of C2C12-GFP cells with L-Histidinol and PP242 does not lead to synergistic effects  Consistent with stimulation of the ISR, CHOP and to a minor extent ATF4 are upregulated by L-Histidinol in both cell lines, yet their expression levels show only an incomplete correlation with those of the transgene (Fig 4B, S5B Fig, and not shown) 
The finding that GCN2 activation by L-Histidinol is sufficient to reactivate the transgenes in both HepG2-OA1 and C2C12-GFP cells pointed to this kinase, and to the downstream ISR, as the pathway possibly involved in the EAA starvation response  Thus, we investigated whether the ISR is sufficient to trigger upregulation of the OA1 transgene in HepG2-OA1 cells by pharmacological means  As CHOP expression does not correspond quantitatively and is not sufficient to induce transgene reactivation, we tested the role of the core upstream event of the ISR, namely the phosphorylation of eIF2α , which can be induced by pharmacological treatments, independent of GCN2 (Fig 5A)  To this aim, we used Salubrinal, a specific phosphatase inhibitor that blocks both constitutive and ER stress-induced phosphatase complexes against eIF2α, thereby increasing its phosphorylation   We found that, while the ISR is activated upon Salubrinal treatment, as shown by increased CHOP expression, it does not induce OA1 transgene reactivation (Fig 5B) 
Fig 5  The ISR is neither sufficient nor necessary to induce transgene reactivation in HepG2 cells 
(A) Schematic representation of GCN2 activation by AA starvation, resulting in phosphorylation of eIF2a and initiation of the downstream ISR  In addition to GCN2, the ISR may be activated by other eIF2a kinases (PKR, HRI and PERK; not shown in the picture)  (B) Relative transgene (OA1) and CHOP mRNA abundance in HepG2-OA1 cells treated for 24 h with Salubrinal (a drug that induces the ISR by inhibiting the dephosphorylation of eIF2α; 75 μM), compared to full medium  Mean ± range of two experiments  Data are expressed as fold change vs  control (DMEM = 1)  *P<0 05 (paired two-tailed Student’s t-test vs  control)  (C) Relative transgene (OA1) and CHOP mRNA abundance in HepG2-OA1 cells treated for 6 h with L-Histidinol (HisOH, GCN2 activator; 4 mM), in the absence or presence of ISRIB (a drug that bypasses the phosphorylation of eIF2α, inhibiting triggering of the ISR; 100 nM)  Mean ± range of two experiments  Data are expressed as fold change vs  control (DMEM = 1)  **P<0 01, ***P<0 001 (one way ANOVA, followed by Tukey’s post-test; P values refer to comparisons vs  control, unless otherwise indicated)  (D) Relative transgene (OA1) and ATF4 mRNA abundance in HepG2-OA1 cells transfected with control (CTRL) or anti-ATF4 siRNAs, and incubated in the presence or absence of L-Histidinol (HisOH, GCN2 activator; 4 mM) for 6 h  Mean ± range of two experiments  Data are expressed as fold change vs  control (w/o HisOH = 1, top; control siRNA = 1, bottom)  *P<0 05 (one way ANOVA, followed by Tukey’s post-test; P values refer to comparisons vs  control, unless otherwise indicated) 
To test whether the ISR is necessary to trigger the transgene response to L-Histidinol, we used the chemical compound ISRIB, which inhibits the activation of the ISR, even in the presence of phosphorylated eIF2α, likely by boosting the activity of the guanine-nucleotide exchange factor (GEF) for eIF2α, namely eIF2B [53, 54]  HepG2-OA1 cells were stimulated with L-Histidinol, either in the presence or absence of ISRIB  As shown in Fig 5C, while the expression of CHOP is inhibited by ISRIB, as expected, the reactivation of the OA1 transgene is not affected  In addition, knockdown of the closest eIF2α downstream effector ATF4 by siRNAs does not interfere with the reactivation of the OA1 transgene by L-Histidinol (Fig 5D)  Together, these data suggest that eIF2α phosphorylation and the downstream ISR pathway are neither sufficient nor necessary to induce transgene reactivation 
To definitively establish if GCN2 is necessary to trigger the transgene reactivation response to EAA starvation, we directly suppressed its expression by CRISPR/Cas9-mediated knock-out (KO)  We generated three independent GCN2-KO clones from the parental HeLa-OA1 cell line, by using three different guide RNAs, two against exon 1 (clones 183#11 and 185#5), and one against exon 6 (clone 239#1) of the GCN2 gene  Genomic characterization confirmed the presence of mutations on both alleles of exon 1 of the GCN2 gene in clone 183#11, and on both alleles of exon 6 in clone 239#1; by contrast, clone 185#5 showed multiple alleles in exon 1, consistent with the presence of two cell populations, and was not characterized further at the genomic level (S6 Fig)  None of these clones express GCN2 at the protein level, as shown by immunoblotting (Fig 6A)  To test the GCN2-KO cells for their ability to respond to EAA starvation, parental HeLa-OA1 cells and the three GCN2-KO clones were cultured in media deprived of Met/Cys or Thr (corresponding to the most effective treatments in this cell line; see Fig 3A) for 24–48 h and transgene expression was assessed by RT-qPCR  We found that the reactivation of the OA1 transgene is neither abolished, nor reduced by KO of GCN2, thus excluding that this kinase is necessary for the response to EAA starvation in HeLa-OA1 cells (Fig 6B and 6C) 
Fig 6  GCN2 knockout does not interfere with transgene reactivation in HeLa cells 
(A) Immunoblotting of protein extracts from the HeLa-OA1 parental cell line and GCN2-KO clones 183#11, 185#5 and 239#1, immunodecorated with anti-GCN2 antibody  Arrow, GCN2 specific band  Ponceau staining was used as loading control  (B, C) Relative transgene (OA1) mRNA abundance in HeLa-OA1 cells and GCN2-KO clones, cultured in Met/Cys (B) or Thr (C) deprived medium for 24 h or 48 h, respectively, compared to full medium  Mean ± SD of 3 technical replicates from 1 experiment  Data are expressed as fold change vs  control (full medium = 1)  Since independent clones may display variable reactivation responses (e g  due to different levels of transgene expression in basal conditions), the results are not shown as means of the three clones, but as separate replicates 
Similarly, we generated GCN2-KO clones from the parental HepG2-OA1 cell line by the same strategy  By using a guide RNA against exon 1 of the GCN2 gene, we obtained three independent GCN2-KO clones, namely E23, F22 and F27  Genomic characterization confirmed the presence of mutations on both alleles of exon 1 of the GCN2 gene in clone F27 (S7 Fig) and all three clones showed a very low amount—if any—of residual GCN2 protein, compared to the original HepG2-OA1 cell line (Fig 7A)  To assess the ability of GCN2-KO cells to reactivate the transgene upon starvation, we cultured parental HepG2-OA1 cells and the three GCN2-KO clones in media deprived of Met/Cys or His (corresponding to the most effective treatments in this cell line; see Fig 3B) for 24 h, and evaluated the transgene expression by RT-qPCR  As shown in Fig 7B and 7C, we found that the reactivation of the OA1 transgene is neither abolished, nor reduced by KO of GCN2, as in HeLa cells  To further confirm this result, we knocked-down GCN2 by RNA interference (RNAi), and incubated the cells with or without L-Histidinol for 6 h  As shown in Fig 8, treatment of HepG2-OA1 cells with L-Histidinol results in efficient transgene reactivation, even upon significant GCN2 downregulation, both at the mRNA and protein levels  Taken together, these data strongly support the conclusion that GCN2 is not necessary for transgene reactivation in response to EAA starvation, either in HeLa or in HepG2 cells 
Fig 7  GCN2 knockout does not interfere with transgene reactivation in HepG2 cells 
(A) Immunoblotting of protein extracts from the HepG2-OA1 parental cell line and GCN2-KO clones 185#27, E23, F22, F27, immunodecorated with anti-GCN2 antibody  Clone 185#27 results from the first round of selection, and was used to generate clones E23, F22, F27  Arrow, GCN2 specific band  For GCN2 protein quantification, Ponceau staining was used as loading control and data are expressed as fold change vs  parental cell line (= 1)  (B, C) Relative transgene (OA1) mRNA abundance in HepG2-OA1 cells and GCN2-KO clones, cultured in Met/Cys (B) or His (C) deprived medium for 24 h, compared to full medium  Mean ± SD of 3 technical replicates from 1 experiment 



ground_truth: The paper aims to solve nonlinear system vibration problems efficiently.