Functional coefficient time series models with trending regressors

This paper studies a functional coe?cient time series model with trending regressors, where the coe?cients are unknown functions of time and random variables. We propose a local linear estimation method to estimate the unknown coe?cient functions, and establish the corresponding asymptotic theory under mild conditions. We also develop a test procedure to see if the functional coe?cients take particular parametric forms. For practical use, we further propose a Bayesian approach to select the bandwidths, and conduct several numerical experiments to examine the finite sample performance of our proposed local linear estimator and the test procedure. The results show that the local linear estimator works well and the proposed test has satisfactory size and power. In addition, our simulation studies show that the Bayesian bandwidth selection method performs better than the cross-validation method. Furthermore, we use the functional coe?cient model to study the relationship between consumption per capita and income per capita in United States, and it was shown that the functional coe?cient model with our proposed local linear estimator and Bayesian bandwidth selection method performs well in both in-sample fitting and out-of-sample forecasting.     

A robust functional time series forecasting method

Univariate time series often take the form of a collection of curves observed sequentially over time. Examples of these include hourly ground-level ozone concentration curves. These curves can be viewed as a time series of functions observed at equally spaced intervals over a dense grid. Since functional time series may contain various types of outliers, we introduce a robust functional time series forecasting method to down-weigh the influence of outliers in forecasting. Through a robust principal component analysis based on projection pursuit, a time series of functions can be decomposed into a set of robust dynamic functional principal components and their associated scores. Conditioning on the estimated functional principal components, the crux of the curve-forecasting problem lies in modelling and forecasting principal component scores, through a robust vector autoregressive forecasting method. Via a simulation study and an empirical study on forecasting ground-level ozone concentration, the robust method demonstrates the superior forecast accuracy that dynamic functional principal component regression entails. The robust method also shows the superior estimation accuracy of the parameters in the vector autoregressive models for modelling and forecasting principal component scores, and thus improves curve forecast accuracy.     

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.     

Expansion and estimation of Lévy process functionals in nonlinear and nonstationary time series regression

In this article, we develop a series estimation method for unknown time-inhomogeneous functionals of Lévy processes involved in econometric time series models. To obtain an asymptotic distribution for the proposed estimators, we establish a general asymptotic theory for partial sums of bivariate functionals of time and nonstationary variables. These results show that the proposed estimators in different situations converge to quite different random variables. In addition, the rates of convergence depend on various factors rather than just the sample size. Finite sample simulations are provided to evaluate the finite sample performance of the proposed model and estimation method.     

Short-term forecasting with a computationally efficient nonparametric transfer function model

In this paper a semi-parametric approach is developed to model non-linear relationships in time series data using polynomial splines. Polynomial splines require very little assumption about the functional form of the underlying relationship, so they are very flexible and can be used to model highly non-linear relationships. Polynomial splines are also computationally very efficient. The serial correlation in the data is accounted for by modelling the noise as an autoregressive integrated moving average (ARIMA) process, by doing so, the efficiency in nonparametric estimation is improved and correct inferences can be obtained. The explicit structure of the ARIMA model allows the correlation information to be used to improve forecasting performance. An algorithm is developed to automatically select and estimate the polynomial spline model and the ARIMA model through backfitting. This method is applied on a real-life data set to forecast hourly electricity usage. The non-linear effect of temperature on hourly electricity usage is allowed to be different at different hours of the day and days of the week. The forecasting performance of the developed method is evaluated in post-sample forecasting and compared with several well-accepted models. The results show the performance of the proposed model is comparable with a long short-term memory deep learning model.     

Evaluating the Effectiveness of State-Switching Time Series Models for U.S. Real Output

Two types of state-switching models for U.S. real output have been proposed: models that switch randomly between states and models that switch states deterministically, as in the threshold autoregressive model of Potter. These models have been justified primarily on how well they fit the sample data, yielding statistically significant estimates of the model coefficients. Here we propose a new approach to the evaluation of an estimated nonlinear time series model that provides a complement to existing methods based on in-sample fit or on out-of-sample forecasting. In this new approach, a battery of distinct nonlinearity tests is applied to the sample data, resulting in a set of p-values for rejecting the null hypothesis of a linear generating mechanism. This set of p-values is taken to be a “stylized fact” characterizing the nonlinear serial dependence in the generating mechanism of the time series. The effectiveness of an estimated nonlinear model for this time series is then evaluated in terms of the congruence between this stylized fact and a set of nonlinearity test results obtained from data simulated using the estimated model. In particular, we derive a portmanteau statistic based on this set of nonlinearity test p-values that allows us to test the proposition that a given model adequately captures the nonlinear serial dependence in the sample data. We apply the method to several estimated state-switching models of U.S. real output.     

Forecast of the expected non-epidemic morbidity of acute diseases using resampling methods

In epidemiological surveillance it is important that any unusual increase of reported cases be detected as rapidly as possible. Reliable forecasting based on a suitable time series model for an epidemiological indicator is necessary for estimating the expected non-epidemic indicator and to elaborate an alert threshold. Time series analyses of acute diseases often use Gaussian autoregressive integrated moving average models. However, these approaches can be adversely affected by departures from the true underlying distribution. The objective of this paper is to introduce a bootstrap procedure for obtaining prediction intervals in linear models in order to avoid the normality assumption. We present a Monte Carlo study comparing the finite sample properties of bootstrap prediction intervals with those of alternative methods. Finally, we illustrate the performance of the proposed method with a meningococcal disease incidence series.     

Functional measurement error in functional regression

Measurement error is an important problem that has not been studied very well in the context of functional data analysis. To the best of our knowledge, there are no existing methods that address the presence of functional measurement errors in generalized functional linear models. In this article, a novel approach is proposed to estimate the slope function in the presence of measurement error in the generalized functional linear model with a scalar response. This work significantly advances the existing conditional score method to accommodate the case where both the measurement error and independent variables lie in infinite dimensional spaces. Asymptotic results are established for the proposed estimate, and its behaviour is studied via simulations, where the response is continuous or binary. Analysis of Canadian Weather data highlights the practical utility of our method. The Canadian Journal of Statistics 48: 238–258; 2020 © 2020 Statistical Society of Canada     

HEAVY-TAILED-DISTRIBUTED THRESHOLD STOCHASTIC VOLATILITY MODELS IN FINANCIAL TIME SERIES

To capture mean and variance asymmetries and time‐varying volatility in financial time series, we generalize the threshold stochastic volatility (THSV) model and incorporate a heavy‐tailed error distribution. Unlike existing stochastic volatility models, this model simultaneously accounts for uncertainty in the unobserved threshold value and in the time‐delay parameter. Self‐exciting and exogenous threshold variables are considered to investigate the impact of a number of market news variables on volatility changes. Adopting a Bayesian approach, we use Markov chain Monte Carlo methods to estimate all unknown parameters and latent variables. A simulation experiment demonstrates good estimation performance for reasonable sample sizes. In a study of two international financial market indices, we consider two variants of the generalized THSV model, with US market news as the threshold variable. Finally, we compare models using Bayesian forecasting in a value‐at‐risk (VaR) study. The results show that our proposed model can generate more accurate VaR forecasts than can standard models.     

Multivariate time series prediction using a hybridization of VARMA models and Bayesian networks

In this paper, a new hybrid model of vector autoregressive moving average (VARMA) models and Bayesian networks is proposed to improve the forecasting performance of multivariate time series. In the proposed model, the VARMA model, which is a popular linear model in time series forecasting, is specified to capture the linear characteristics. Then the errors of the VARMA model are clustered into some trends by K-means algorithm with Krzanowski–Lai cluster validity index determining the number of trends, and a Bayesian network is built to learn the relationship between the data and the trend of its corresponding VARMA error. Finally, the estimated values of the VARMA model are compensated by the probabilities of their corresponding VARMA errors belonging to each trend, which are obtained from the Bayesian network. Compared with VARMA models, the experimental results with a simulation study and two multivariate real-world data sets indicate that the proposed model can effectively improve the prediction performance.     

A transitional Markov switching autoregressive model

ABSTRACT

This paper is concerned with properties of a transitional Markov switching autoregressive (TMSAR) model, together with its maximum-likelihood estimation and inference. We extend existing MSAR models by allowing dependence of AR parameters on hidden states at time points prior to the current time t. A stationary solution is given and expressions for the theoretical autocovariance function are derived. Two time series are analyzed and the new model outperforms two existing MSAR models in terms of maximized log-likelihood, residual correlations, and one-step-ahead forecasting performance. The new model also gives more regime changes in agreement with real events.     

EXPONENTIAL SMOOTHING AND NON‐NEGATIVE DATA

The most common forecasting methods in business are based on exponential smoothing, and the most common time series in business are inherently non‐negative. Therefore it is of interest to consider the properties of the potential stochastic models underlying exponential smoothing when applied to non‐negative data. We explore exponential smoothing state space models for non‐negative data under various assumptions about the innovations, or error, process. We first demonstrate that prediction distributions from some commonly used state space models may have an infinite variance beyond a certain forecasting horizon. For multiplicative error models that do not have this flaw, we show that sample paths will converge almost surely to zero even when the error distribution is non‐Gaussian. We propose a new model with similar properties to exponential smoothing, but which does not have these problems, and we develop some distributional properties for our new model. We then explore the implications of our results for inference, and compare the short‐term forecasting performance of the various models using data on the weekly sales of over 300 items of costume jewelry. The main findings of the research are that the Gaussian approximation is adequate for estimation and one‐step‐ahead forecasting. However, as the forecasting horizon increases, the approximate prediction intervals become increasingly problematic. When the model is to be used for simulation purposes, a suitably specified scheme must be employed.     

Random Level-Shift Time Series Models,ARIMA Approximations,and Level-Shift Detection

The main purpose of this article is to assess the performance of autoregressive integrated moving average (ARIMA) models when occasional level shifts occur in the time series under study. A random level-shift time series model that allows the level of the process to change occasionally is introduced. Between two consecutive changes, the process behaves like the usual autoregressive moving average (ARMA) process. In practice, a series generated from a random level-shift ARMA (RLARMA) model may be misspecified as an ARIMA process. The efficiency of this ARIMA approximation with respect to estimation of current level and forecasting is investigated. The results of examining a special case of an RLARMA model indicate that the ARIMA approximations are inadequate for estimating the current level, but they are robust for forecasting future observations except when there is a very low frequency of level shifts or when the series are highly negatively correlated. A level-shift detection procedure is presented to handle the low-frequency level-shift phenomena, and its usefulness in building models for forecasting is demonstrated.     

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.     

Functional time series approach for forecasting very short-term electricity demand

This empirical paper presents a number of functional modelling and forecasting methods for predicting very short-term (such as minute-by-minute) electricity demand. The proposed functional methods slice a seasonal univariate time series (TS) into a TS of curves; reduce the dimensionality of curves by applying functional principal component analysis before using a univariate TS forecasting method and regression techniques. As data points in the daily electricity demand are sequentially observed, a forecast updating method can greatly improve the accuracy of point forecasts. Moreover, we present a non-parametric bootstrap approach to construct and update prediction intervals, and compare the point and interval forecast accuracy with some naive benchmark methods. The proposed methods are illustrated by the half-hourly electricity demand from Monday to Sunday in South Australia.     

Observable trend-projecting state-space models

Much attention has focused in recent years on the use of state-space models for describing and forecasting industrial time series. However, several state-space models that are proposed for such data series are not observable and do not have a unique representation, particularly in situations where the data history suggests marked seasonal trends. This raises major practical difficulties since it becomes necessary to impose one or more constraints and this implies a complicated error structure on the model. The purpose of this paper is to demonstrate that state-space models are useful for describing time series data for forecasting purposes and that there are trend-projecting state-space components that can be combined to provide observable state-space representations for specified data series. This result is particularly useful for seasonal or pseudo-seasonal time series. A well-known data series is examined in some detail and several observable state-space models are suggested and compared favourably with the constrained observable model.     

Observable trend-projecting state-space models

Much attention has focused in recent years on the use of state-space models for describing and forecasting industrial time series. However, several state-space models that are proposed for such data series are not observable and do not have a unique representation, particularly in situations where the data history suggests marked seasonal trends. This raises major practical difficulties since it becomes necessary to impose one or more constraints and this implies a complicated error structure on the model. The purpose of this paper is to demonstrate that state-space models are useful for describing time series data for forecasting purposes and that there are trend-projecting state-space components that can be combined to provide observable state-space representations for specified data series. This result is particularly useful for seasonal or pseudo-seasonal time series. A well-known data series is examined in some detail and several observable state-space models are suggested and compared favourably with the constrained observable model.     

Comparison of the finite mixture of ARMA-GARCH,back propagation neural networks and support-vector machines in forecasting financial returns

The use of GARCH type models and computational-intelligence-based techniques for forecasting financial time series has been proved extremely successful in recent times. In this article, we apply the finite mixture of ARMA-GARCH model instead of AR or ARMA models to compare with the standard BP and SVM in forecasting financial time series (daily stock market index returns and exchange rate returns). We do not apply the pure GARCH model as the finite mixture of the ARMA-GARCH model outperforms the pure GARCH model. These models are evaluated on five performance metrics or criteria. Our experiment shows that the SVM model outperforms both the finite mixture of ARMA-GARCH and BP models in deviation performance criteria. In direction performance criteria, the finite mixture of ARMA-GARCH model performs better. The memory property of these forecasting techniques is also examined using the behavior of forecasted values vis-à-vis the original values. Only the SVM model shows long memory property in forecasting financial returns.     

Two-step variable selection in partially linear additive models with time series data

Lots of semi-parametric and nonparametric models are used to fit nonlinear time series data. They include partially linear time series models, nonparametric additive models, and semi-parametric single index models. In this article, we focus on fitting time series data by partially linear additive model. Combining the orthogonal series approximation and the adaptive sparse group LASSO regularization, we select the important variables between and within the groups simultaneously. Specially, we propose a two-step algorithm to obtain the grouped sparse estimators. Numerical studies show that the proposed method outperforms LASSO method in both fitting and forecasting. An empirical analysis is used to illustrate the methodology.