Functional Autoregression for Sparsely Sampled Data

We develop a hierarchical Gaussian process model for forecasting and inference of functional time series data. Unlike existing methods, our approach is especially suited for sparsely or irregularly sampled curves and for curves sampled with nonnegligible measurement error. The latent process is dynamically modeled as a functional autoregression (FAR) with Gaussian process innovations. We propose a fully nonparametric dynamic functional factor model for the dynamic innovation process, with broader applicability and improved computational efficiency over standard Gaussian process models. We prove finite-sample forecasting and interpolation optimality properties of the proposed model, which remain valid with the Gaussian assumption relaxed. An efficient Gibbs sampling algorithm is developed for estimation, inference, and forecasting, with extensions for FAR(p) models with model averaging over the lag p. Extensive simulations demonstrate substantial improvements in forecasting performance and recovery of the autoregressive surface over competing methods, especially under sparse designs. We apply the proposed methods to forecast nominal and real yield curves using daily U.S. data. Real yields are observed more sparsely than nominal yields, yet the proposed methods are highly competitive in both settings. Supplementary materials, including R code and the yield curve data, are available online.     

Estimated Generalized Least Squares for Random Coefficient Regression Models

ABSTRACT. This paper considers a general class of random coefficient regression (RCR) models to represent pooled cross-sectional and time series data. A new method is given to estimate the covariance matrix of the error component in these RCR models. Also, the asymptotic and small sample properties of the estimated generalized least squares estimator of the regression coefficient vector are established. Procedures for testing a linear restriction on the mean vector of the random coefficients are derived. Finally, a test for non-randomness in the RCR model is devised, and the asymptotic distribution of the test statistic is obtained.     

Improved functional portmanteau tests

Functional time series is a popular method of forecasting in functional data analysis. The Box-Jenkins methodology for model building, with the aim of forecasting, includes three iterative steps of model identification, parameter estimation and diagnostic checking. Portmanteau tests are one of the most popular diagnostic checking tools. In particular, they are applied to find if the residuals of the fitted model are white noise. Gabrys and Kokoszka [Portmanteau test of independence for functional observations. J Am Stat Assoc. 2007;102(480):1338–1348.] proposed a portmanteau test of independence for functional observation based on Box and Pierce's statistic. Their statistic is too sensitive to the lag value, specially when the sample size is small. Here, two modifications of Gabrys and Kokoszka statistic are presented, which have superior properties in small samples. The efficiency of the modified statistics is demonstrated through a simulation study.     

Testing for Threshold Diffusion

The threshold diffusion model assumes a piecewise linear drift term and a piecewise smooth diffusion term, which constitutes a rich model for analyzing nonlinear continuous-time processes. We consider the problem of testing for threshold nonlinearity in the drift term. We do this by developing a quasi-likelihood test derived under the working assumption of a constant diffusion term, which circumvents the problem of generally unknown functional form for the diffusion term. The test is first developed for testing for one threshold at which the drift term breaks into two linear functions. We show that under some mild regularity conditions, the asymptotic null distribution of the proposed test statistic is given by the distribution of certain functional of some centered Gaussian process. We develop a computationally efficient method for calibrating the p-value of the test statistic by bootstrapping its asymptotic null distribution. The local power function is also derived, which establishes the consistency of the proposed test. The test is then extended to testing for multiple thresholds. We demonstrate the efficacy of the proposed test by simulations. Using the proposed test, we examine the evidence of nonlinearity in the term structure of a long time series of U.S. interest rates.     

ON ESTIMATION OF LONG-MEMORY TIME SERIES MODELS

This paper discusses estimation associated with the long-memory time series models proposed by Granger & Joyeux (1980) and Hosking (1981). We consider the maximum likelihood estimator and the least squares estimator. Certain regularity conditions introduced by several authors to develop the asymptotic theory of these estimators do not hold in this model. However we can show that these estimators are strongly consistent, and we derive the limiting distribution and the rate of convergence.     

BL-GARCH models and asymmetries in volatility

In this paper the class of Bilinear GARCH (BL-GARCH) models is proposed. BL-GARCH models allow to capture asymmetries in the conditional variance of financial and economic time series by means of interactions between past shocks and volatilities. The availability of likelihood based inference is an attractive feature of BL-GARCH models. Under the assumption of conditional normality, the log-likelihood function can be maximized by means of an EM type algorithm. The main reason for using the EM algorithm is that it allows to obtain parameter estimates which naturally guarantee the positive definiteness of the conditional variance with no need for additional parameter constraints. We also derive a robust LM test statistic which can be used for model identification. Finally, the effectiveness of BL-GARCH models in capturing asymmetric volatility patterns in financial time series is assessed by means of an application to a time series of daily returns on the NASDAQ Composite stock market index.     

Structural changes in autoregressive models for binary time series

We study autoregressive models for binary time series with possible changes in their parameters. A procedure for detection and testing of a single change is suggested. The limiting behavior of the test statistic is derived. The performance of the test is analyzed under the null hypothesis as well as under different alternatives via a simulation study. Application of the method to a real data set on US recession is provided as an illustration.     

Autoregressive Forecasting of Some Functional Climatic Variations

Many variations such as the annual cycle in sea surface temperatures can be considered to be smooth functions and are appropriately described using methods from functional data analysis. This study defines a class of functional autoregressive (FAR) models which can be used as robust predictors for making forecasts of entire smooth functions in the future. The methods are illustrated and compared with pointwise predictors such as SARIMA by applying them to forecasting the entire annual cycle of climatological El Nino–Southern Oscillation (ENSO) time series one year ahead. Forecasts for the period 1987–1996 suggest that the FAR functional predictors show some promising skill, compared to traditional scalar SARIMA forecasts which perform poorly.     

Testing for the Null Hypothesis of Cointegration with a Structural Break

In this paper we propose residual-based tests for the null hypothesis of cointegration with a structural break against the alternative of no cointegration. The Lagrange Multiplier (LM) test is proposed and its limiting distribution is obtained for the case in which the timing of a structural break is known. Then the test statistic is extended to deal with a structural break of unknown timing. The test statistic, a plug-in version of the test statistic for known timing, replaces the true break point by the estimated one. We show the limiting properties of the test statistic under the null as well as the alternative. Critical values are calculated for the tests by simulation methods. Finite-sample simulations show that the empirical size of the test is close to the nominal one unless the regression error is very persistent and that the test rejects the null when no cointegrating relationship with a structural break is present. We provide empirical examples based on the present-value model, the term structure model, and the money-output relationship model.     

SEMI-PARAMETRIC ANALYSIS OF COVARIANCE UNDER DEPENDENCE CONDITIONS WITHIN EACH GROUP

Consider the problem of covariance analysis based on regression models whose regression function is the sum of a linear and a non-parametric component. We propose a parametric and a non-parametric statistical test to compare the effects of the linear and non-parametric components, respectively, on the response variable in   L ≥ 2  groups. Serially correlated errors within each group are allowed. The first (second) test compares the differences between the estimates of the parametric (non-parametric) components of each group by means of a Mahalanobis  ( L ²)  distance. The asymptotic distribution of each statistic under the null hypothesis is obtained. A modest simulation study and an application to a real data set illustrate our methodology.     

Testing for the Null Hypothesis of Cointegration with a Structural Break

In this paper we propose residual-based tests for the null hypothesis of cointegration with a structural break against the alternative of no cointegration. The Lagrange Multiplier (LM) test is proposed and its limiting distribution is obtained for the case in which the timing of a structural break is known. Then the test statistic is extended to deal with a structural break of unknown timing. The test statistic, a plug-in version of the test statistic for known timing, replaces the true break point by the estimated one. We show the limiting properties of the test statistic under the null as well as the alternative. Critical values are calculated for the tests by simulation methods. Finite-sample simulations show that the empirical size of the test is close to the nominal one unless the regression error is very persistent and that the test rejects the null when no cointegrating relationship with a structural break is present. We provide empirical examples based on the present-value model, the term structure model, and the money-output relationship model.     

EDF tests of goodness of fit for transform-both-sides models

Very often in regression analysis, a particular functional form connecting known covariates and unknown parameters is either suggested by previous work or demanded by theoretical considerations so that the deterministic part of the responses has a known form. However, the underlying error structure is often less well understood. In this case, the transform-both-sides (TBS) models are appropriate. In this paper we generalize the usual TBS models and develop tests to assess goodness of fit when fitting TBS or GTBS models. Parameter estimation is discussed, and tests based on the Cramér-von Mises statistic and the Anderson-Darling statistic are presented with a table suitable for finite-sample applications.     

Autoregressiv model identification for multivariate time series

A procedure is developed for the identification of autoregressive models for stationary invertible multivariate Gaussian time series. Model selection is based on either the AIC information criterion or on a statistic called CVR, cross-validatory residual sum of squares. An example is given to show that the forecasts generated by these models compare favorably with those generated by other common time series modeling techniques.     

Two Canonical VARMA Forms: Scalar Component Models Vis-à-Vis the Echelon Form

In this article we study two methodologies which identify and specify canonical form VARMA models. The two methodologies are: (1) an extension of the scalar component methodology which specifies canonical VARMA models by identifying scalar components through canonical correlations analysis; and (2) the Echelon form methodology, which specifies canonical VARMA models through the estimation of Kronecker indices. We compare the actual forms and the methodologies on three levels. Firstly, we present a theoretical comparison. Secondly, we present a Monte Carlo simulation study that compares the performances of the two methodologies in identifying some pre-specified data generating processes. Lastly, we compare the out-of-sample forecast performance of the two forms when models are fitted to real macroeconomic data.     

Identifying rational distributed lag models using a joint test applied to the corner table

Often a distributed lag response pattern can be usefully represented in rational polynomial form. When the impulse response function decays, the corner table may be useful for model identification if appropriate statistical tests may be done. One or more joint tests are called for since use of the corner table involves studying groups of its elements. We consider an asymptotic x2 statistic that permits joint tests. We report simulation results showing that the distribution of this statistic follows the x ² distribution, for certain sample sizes and degrees of freedom, well enough to be useful in practice. With two data sets we illustrate how this statistic can be a useful aid when using the corner table.     

On consistent testing for serial correlation in seasonal time series models

The author considers serial correlation testing in seasonal time series models. He proposes a test statistic based on a spectral approach. Many tests of this type rely on kernel-based spectral density estimators that assign larger weights to low order lags than to high ones. Under seasonality, however, large autocorrelations may occur at seasonal lags that classical kernel estimators cannot take into account. The author thus proposes a test statistic that relies on the spectral density estimator of Shin (2004), whose weighting scheme is more adapted to this context. The distribution of his test statistic is derived under the null hypothesis and he studies its behaviour under fixed and local alternatives. He establishes the consistency of the test under a general fixed alternative. He also makes recommendations for the choice of the smoothing parameters. His simulation results suggest that his test is more powerful against seasonality than alternative procedures based on classical weighting schemes. He illustrates his procedure with monthly statistics on employment among young Americans.     

Testing non-nested log-linear models with pseudo estimator

As the number of random variables for the categorical data increases, the possible number of log-linear models which can be fitted to the data increases rapidly, so that various model selection methods are developed. However, we often found that some models chosen by different selection criteria do not coincide. In this paper, we propose a comparison method to test the final models which are non-nested. The statistic of Cox (1961, 1962) is applied to log-linear models for testing non-nested models, and the Kullback-Leibler measure of closeness (Pesaran 1987) is explored. In log-linear models, pseudo estimators for the expectation and the variance of Cox's statistic are not only derived but also shown to be consistent estimators.     

Root n consistent and optimal density estimators for moving average processes

Abstract.  The marginal density of a first order moving average process can be written as a convolution of two innovation densities. Saavedra & Cao [Can. J. Statist. (2000), 28, 799] propose to estimate the marginal density by plugging in kernel density estimators for the innovation densities, based on estimated innovations. They obtain that for an appropriate choice of bandwidth the variance of their estimator decreases at the rate 1/ n . Their estimator can be interpreted as a specific U -statistic. We suggest a slightly simplified U -statistic as estimator of the marginal density, prove that it is asymptotically normal at the same rate, and describe the asymptotic variance explicitly. We show that the estimator is asymptotically efficient if no structural assumptions are made on the innovation density. For innovation densities known to have mean zero or to be symmetric, we describe improvements of our estimator which are again asymptotically efficient.     

Forecasting functional time series using weighted likelihood methodology

Functional time series whose sample elements are recorded sequentially over time are frequently encountered with increasing technology. Recent studies have shown that analyzing and forecasting of functional time series can be performed easily using functional principal component analysis and existing univariate/multivariate time series models. However, the forecasting performance of such functional time series models may be affected by the presence of outlying observations which are very common in many scientific fields. Outliers may distort the functional time series model structure, and thus, the underlying model may produce high forecast errors. We introduce a robust forecasting technique based on weighted likelihood methodology to obtain point and interval forecasts in functional time series in the presence of outliers. The finite sample performance of the proposed method is illustrated by Monte Carlo simulations and four real-data examples. Numerical results reveal that the proposed method exhibits superior performance compared with the existing method(s).