A Class of Non-Gaussian State Space Models With Exact Likelihood Inference

The likelihood function of a general nonlinear, non-Gaussian state space model is a high-dimensional integral with no closed-form solution. In this article, I show how to calculate the likelihood function exactly for a large class of non-Gaussian state space models that include stochastic intensity, stochastic volatility, and stochastic duration models among others. The state variables in this class follow a nonnegative stochastic process that is popular in econometrics for modeling volatility and intensities. In addition to calculating the likelihood, I also show how to perform filtering and smoothing to estimate the latent variables in the model. The procedures in this article can be used for either Bayesian or frequentist estimation of the model’s unknown parameters as well as the latent state variables. Supplementary materials for this article are available online.     

On multivariate nonlinear regression models with stationary correlated errors

In this paper we consider the statistical analysis of multivariate multiple nonlinear regression models with correlated errors, using Finite Fourier Transforms. Consistency and asymptotic normality of the weighted least squares estimates are established under various conditions on the regressor variables. These conditions involve different types of scalings, and the scaling factors are obtained explicitly for various types of nonlinear regression models including an interesting model which requires the estimation of unknown frequencies. The estimation of frequencies is a classical problem occurring in many areas like signal processing, environmental time series, astronomy and other areas of physical sciences. We illustrate our methodology using two real data sets taken from geophysics and environmental sciences. The data we consider from geophysics are polar motion (which is now widely known as “Chandlers Wobble”), where one has to estimate the drift parameters, the offset parameters and the two periodicities associated with elliptical motion. The data were first analyzed by Arato, Kolmogorov and Sinai who treat it as a bivariate time series satisfying a finite order time series model. They estimate the periodicities using the coefficients of the fitted models. Our analysis shows that the two dominant frequencies are 12 h and 410 days. The second example, we consider is the minimum/maximum monthly temperatures observed at the Antarctic Peninsula (Faraday/Vernadsky station). It is now widely believed that over the past 50 years there is a steady warming in this region, and if this is true, the warming has serious consequences on ecology, marine life, etc. as it can result in melting of ice shelves and glaciers. Our objective here is to estimate any existing temperature trend in the data, and we use the nonlinear regression methodology developed here to achieve that goal.     

Quasi-likelihood Estimation of Non-invertible Moving Average Processes

Classical methods based on Gaussian likelihood or least-squares cannot identify non-invertible moving average processes, while recent non-Gaussian results are based on full likelihood consideration. Since the error distribution is rarely known a quasi-likelihood approach is desirable, but its consistency properties are yet unknown. In this paper we study the quasi-likelihood associated with the Laplacian model, a convenient non-Gaussian model that yields a modified L ₁ procedure. We show that consistency holds for all standard heavy tailed errors, but not for light tailed errors, showing that a quasi-likelihood procedure cannot be applied blindly to estimate non-invertible models. This is an interesting contrast to the standard results of the quasi-likelihood in regression models, where consistency usually holds much more generally. Similar results hold for estimation of non-causal non-invertible ARMA processes. Various simulation studies are presented to validate the theory and to show the effect of the error distribution, and an analysis of the US unemployment series is given as an illustration.     

Dealing with emrqes in variables in response surface exploration

This paper is concerned with the analysis of data obtained from a designed experiment where the experimental design cannot be implemented exactly as planned, because errors in the levels of the variables cannot be avoided or measured. When the primary interest of the investigator lies In obtaining a satisfactory response surface model for the investigated relationship, the precision of the model estimates is essential for successful model building and accurate prediction of the response. An iterative procedure is proposed which estimates the effect of the variable in errors and obtains efficient weighted least squares estimates of the parameters of Interest.     

Importance sampling for signal extraction model in time series analysis

In time series analysis, signal extraction model (SEM) is used to estimate unobserved signal component from observed time series data. Since parameters of the components in SEM are often unknown in practice, a commonly used method is to estimate unobserved signal component using the maximum likelihood estimates (MLEs) of parameters of the components. This paper explores an alternative way to estimate unobserved signal component when parameters of the components are unknown. The suggested method makes use of importance sampling (IS) with Bayesian inference. The basic idea is to treat parameters of the components in SEM as a random vector and compute a posterior probability density function of the parameters using Bayesian inference. Then IS method is applied to integrate out the parameters and thus estimates of unobserved signal component, unconditional to the parameters, can be obtained. This method is illustrated with a real time series data. Then a Monte Carlo study with four different types of time series models is carried out to compare a performance of this method with that of a commonly used method. The study shows that IS method with Bayesian inference is computationally feasible and robust, and more efficient in terms of mean square errors (MSEs) than a commonly used method.     

Some state space models of hiv epidemic and its applications for the estimation of hiv infection and incubation

In this paper we have developed some state space models for the HIV epidemic for populations at risk for AIDS. By using these state space models, we have developed a general Bayesian procedure for estimating simultaneously the unknown parameters and the state variables. The unknown parameters include the immigration and recruitment rates, the death and retirement rates, the incidence of HIV infection ( and hence the HIV infection distribution ) and the incidence of HIV incubation ( and hence the HIV incubation distribution). The state variables are the numbers of susceptible people (S people), HIV-infected people (I people) and AIDS incidence over time. The basic approach is through multi-level Gibbs sampler combined with the weighted bootstrap method. We have applied the methods to the Swiss AIDS homosexual and IV drug data to estimate simultaneously the unknown parameters and the state variables. Our results show that in both populations, both the HIV infection and HIV incubation have multi-peaks indicating the mixture nature of these distributions. Our results have also shown that the estimates of the death and retirement rates for I people are greater than those of S people, suggesting that the infection by HIV may have increased the death and retirement rates of the individuals.     

The Performance of Robust Two-Stage Estimator in Nonlinear Regression with Autocorrelated Error

Some statistics practitioners often ignore the underlying assumptions when analyzing a real data and employ the Nonlinear Least Squares (NLLS) method to estimate the parameters of a nonlinear model. In order to make reliable inferences about the parameters of a model, require that the underlying assumptions, especially the assumption that the errors are independent, are satisfied. However, in a real situation, we may encounter dependent error terms which prone to produce autocorrelated errors. A two-stage estimator (CTS) has been developed to remedy this problem. Nevertheless, it is now evident that the presence of outliers have an unduly effect on the least squares estimates. We expect that the CTS is also easily affected by outliers since it is based on the least squares estimator, which is not robust. In this article, we propose a Robust Two-Stage (RTS) procedure for the estimation of the nonlinear regression parameters in the situation where autocorrelated errors come together with the existence of outliers. The numerical example and simulation study signify that the RTS is more efficient than the NLLS and the CTS methods.     

Estimation for varying coefficient partially nonlinear models with distorted measurement errors

In this paper, we propose a new varying coefficient partially nonlinear model where both the response and predictors are not directly observed, but are observed by unknown distorting functions of a commonly observable covariate. Because of the complexity of the model, existing estimation methods cannot be directly employed. For this, we propose using an efficient nonparametric regression to estimate the unknown distortion functions concerning the covariates and response on the distorting variable, and further, we obtain the profile nonlinear least squares estimators for the parameters and the coefficient functions using the calibrated variables. Furthermore, we establish the asymptotic properties of the resulting estimators. To illustrate our proposed methodology, we carry out some simulated and real examples.     

Generalised Linear Models Incorporating Population Level Information: An Empirical Likelihood Based Approach

In many situations information from a sample of individuals can be supplemented by population level information on the relationship between a dependent variable and explanatory variables. Inclusion of the population level information can reduce bias and increase the efficiency of the parameter estimates.Population level information can be incorporated via constraints on functions of the model parameters. In general the constraints are nonlinear making the task of maximum likelihood estimation harder. In this paper we develop an alternative approach exploiting the notion of an empirical likelihood. It is shown that within the framework of generalised linear models, the population level information corresponds to linear constraints, which are comparatively easy to handle. We provide a two-step algorithm that produces parameter estimates using only unconstrained estimation. We also provide computable expressions for the standard errors. We give an application to demographic hazard modelling by combining panel survey data with birth registration data to estimate annual birth probabilities by parity.     

Switching nonparametric regression models

We propose a methodology to analyse data arising from a curve that, over its domain, switches among J states. We consider a sequence of response variables, where each response y depends on a covariate x according to an unobserved state z. The states form a stochastic process and their possible values are j=1,?…?, J. If z equals j the expected response of y is one of J unknown smooth functions evaluated at x. We call this model a switching nonparametric regression model. We develop an Expectation–Maximisation algorithm to estimate the parameters of the latent state process and the functions corresponding to the J states. We also obtain standard errors for the parameter estimates of the state process. We conduct simulation studies to analyse the frequentist properties of our estimates. We also apply the proposed methodology to the well-known motorcycle dataset treating the data as coming from more than one simulated accident run with unobserved run labels.     

Analyzing the dynamic system model with discrete failure time distribution

The present study deals with the method of estimation of the parameters of k-components load-sharing parallel system model in which each component’s failure time distribution is assumed to be geometric. The maximum likelihood estimates of the load-share parameters with their standard errors are obtained. (1 − γ) 100% joint, Bonferroni simultaneous and two bootstrap confidence intervals for the parameters have been constructed. Further, recognizing the fact that life testing experiments are time consuming, it seems realistic to consider the load-share parameters to be random variable. Therefore, Bayes estimates along with their standard errors of the parameters are obtained by assuming Jeffrey’s invariant and gamma priors for the unknown parameters. Since, Bayes estimators can not be found in closed form expressions, Tierney and Kadane’s approximation method have been used to compute Bayes estimates and standard errors of the parameters. Markov Chain Monte Carlo technique such as Gibbs sampler is also used to obtain Bayes estimates and highest posterior density credible intervals of the load-share parameters. Metropolis–Hastings algorithm is used to generate samples from the posterior distributions of the unknown parameters.     

A flexible particle Markov chain Monte Carlo method

Particle Markov Chain Monte Carlo methods are used to carry out inference in nonlinear and non-Gaussian state space models, where the posterior density of the states is approximated using particles. Current approaches usually perform Bayesian inference using either a particle marginal Metropolis–Hastings (PMMH) algorithm or a particle Gibbs (PG) sampler. This paper shows how the two ways of generating variables mentioned above can be combined in a flexible manner to give sampling schemes that converge to a desired target distribution. The advantage of our approach is that the sampling scheme can be tailored to obtain good results for different applications. For example, when some parameters and the states are highly correlated, such parameters can be generated using PMMH, while all other parameters are generated using PG because it is easier to obtain good proposals for the parameters within the PG framework. We derive some convergence properties of our sampling scheme and also investigate its performance empirically by applying it to univariate and multivariate stochastic volatility models and comparing it to other PMCMC methods proposed in the literature.     

Approximate Methods for State-Space Models

State-space models provide an important body of techniques for analyzing time-series, but their use requires estimating unobserved states. The optimal estimate of the state is its conditional expectation given the observation histories, and computing this expectation is hard when there are nonlinearities. Existing filtering methods, including sequential Monte Carlo, tend to be either inaccurate or slow. In this paper, we study a nonlinear filter for nonlinear/non-Gaussian state-space models, which uses Laplace's method, an asymptotic series expansion, to approximate the state's conditional mean and variance, together with a Gaussian conditional distribution. This Laplace-Gaussian filter (LGF) gives fast, recursive, deterministic state estimates, with an error which is set by the stochastic characteristics of the model and is, we show, stable over time. We illustrate the estimation ability of the LGF by applying it to the problem of neural decoding and compare it to sequential Monte Carlo both in simulations and with real data. We find that the LGF can deliver superior results in a small fraction of the computing time.     

The extended two-sample problem: nonparametric case

The classical two-sample problem is extended here to the case where the distribution functions of the observable random variables are specified functions of unknown distribution functions and the null hypotheses to be tested or the parameters to be estimated relate to these unknown distributions. Various properties of the proposed rank tests and derived estimates are studied.     

A multiple imputation approach to deal with the unity measure error

Unity measure errors (UME) in numerical survey data can determine serious bias in the estimates of interest. In this paper, a finite Gaussian mixture model is used to identify observations affected by UME and to robustly estimate the target parameters in presence of this type of error. In the proposed model, the mixture components are associated to the different error patterns across the variables. We follow a multiple imputation approach in a Bayesian setting that allows us to handle missing values in data. In this framework, the assessment of the uncertainty associated with both errors and missingness is based on repeatedly drawing from the predictive distribution of the true non contaminated data given the observed data. The draws are obtained through a suitable version of the data augmentation algorithm. Applications to both simulated and real data are presented.     

Time series analysis of non-Gaussian observations based on state space models from both classical and Bayesian perspectives

The analysis of non-Gaussian time series by using state space models is considered from both classical and Bayesian perspectives. The treatment in both cases is based on simulation using importance sampling and antithetic variables; Markov chain Monte Carlo methods are not employed. Non-Gaussian disturbances for the state equation as well as for the observation equation are considered. Methods for estimating conditional and posterior means of functions of the state vector given the observations, and the mean-square errors of their estimates, are developed. These methods are extended to cover the estimation of conditional and posterior densities and distribution functions. The choice of importance sampling densities and antithetic variables is discussed. The techniques work well in practice and are computationally efficient. Their use is illustrated by applying them to a univariate discrete time series, a series with outliers and a volatility series.     

Arbitrage Pricing Theory as a Restricted Nonlinear Multivariate Regression Model Iterated Nonlinear Seemingly Unrelated Regression Estimates

By replacing the unknown random factors of factor analysis with observed macroeconomic variables, the arbitrage pricing theory (APT) is recast as a multivariate nonlinear regression model with across-equation restrictions. An explicit theoretical justification for the inclusion of an arbitrary, well-diversified market index is given. Using monthly returns on 70 stocks, iterated nonlinear seemingly unrelated regression techniques are employed to obtain joint estimates of asset sensitivities and their associated APT risk “prices.” Without the assumption of normally distributed errors, these estimators are strongly consistent and asymptotically normal. With the additional assumption of normal errors, they are also full-information maximum likelihood estimators. Classical asymptotic nonlinear nested hypothesis tests are supportive of the APT with measured macroeconomic factors.     

Statistical inference for fixed-effects partially linear regression models with errors in variables

Fixed-effects partially linear regression models are useful tools to analyze data from economic, genetic and other fields. In this paper, we consider estimation and inference procedures when some of the covariates are measured with errors. The previously proposed estimations, including difference-based series estimation (Baltagi and Li in Ann Econ Finan 3:103--116, 2002) and profile least squares estimation (Fan et al. in J Am Stat Assoc 100:781--813, 2005) are no longer consistent because of the attenuation. We propose a new estimation by taking the measurement errors into account. Our proposed estimators are shown to be consistent and asymptotically normal. Consistent estimations of the error variance are also developed. In addition, we propose a variable-selection procedure to variable selection in the parametric part. The procedure is an extension of the nonconcave penalized likelihood (Fan and Li in J Am Stat Assoc 85:1348--1360, 2001), which simultaneously selects the important variables and estimates the unknown parameters. The resulting estimate is shown to possess an oracle property. Extensive simulation studies are conducted to illustrate the finite sample performance of the proposed procedures.     

Local quadratic estimation of the curvature in a functional single index model

The nonlinear responses of species to environmental variability can play an important role in the maintenance of ecological diversity. Nonetheless, many models use parametric nonlinear terms which pre-determine the ecological conclusions. Motivated by this concern, we study the estimate of the second derivative (curvature) of the link function in a functional single index model. Since the coefficient function and the link function are both unknown, the estimate is expressed as a nested optimization. We first estimate the coefficient function by minimizing squared error where the link function is estimated with a Nadaraya-Watson estimator for each candidate coefficient function. The first and second derivatives of the link function are then estimated via local-quadratic regression using the estimated coefficient function. In this paper, we derive a convergence rate for the curvature of the nonlinear response. In addition, we prove that the argument of the linear predictor can be estimated root-n consistently. However, practical implementation of the method requires solving a nonlinear optimization problem, and our results show that the estimates of the link function and the coefficient function are quite sensitive to the choices of starting values.     

The Performance of a Robust Multistage Estimator in Nonlinear Regression with Heteroscedastic Errors

In this article, a robust multistage parameter estimator is proposed for nonlinear regression with heteroscedastic variance, where the residual variances are considered as a general parametric function of predictors. The motivation is based on considering the chi-square distribution for the calculated sample variance of the data. It is shown that outliers that are influential in nonlinear regression parameter estimates are not necessarily influential in calculating the sample variance. This matter persuades us, not only to robustify the estimate of the parameters of the models for both the regression function and the variance, but also to replace the sample variance of the data by a robust scale estimate.