Time-Series Analysis Guide
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Kalman and Particle Filtering
Abstract: The Kalman and Particle filters are algorithms that recursively update an estimate of the state and find the innovations driving a stochastic process given a sequence of observations. The Kalman filter accomplishes this goal by linear projections, while the Particle filter does so by a sequential Monte Carlo method. With the state estimates, we can forecast and smooth the stochastic process. With the innovations, we can estimate the parameters of the model. The article discusses how to set a dynamic model in a state-space form, derives the Kalman and Particle filters, and explains how to use them for estimation. Kalman and Particle Filtering The Kalman and Particle filters are algorithms that recursively update an estimate of the state and find the innovations driving a stochastic process given a sequence of observations. The Kalman filter accomplishes this goal by linear projections, while the Particle filter does so by a sequential Monte Carlo method. Since both filters start with a state-space representation of the stochastic processes of interest, section 1 presents the state-space form of a dynamic model. Then, section 2 intro- duces the Kalman filter and section 3 develops the Particle filter. For extended expositions of this material, see Doucet, de Freitas, and Gordon (2001), Durbin and Koopman (2001), and Ljungqvist and Sargent (2004). 1. The state-space representation of a dynamic model A large class of dynamic models can be represented by a state-space form: Xt+1 = ϕ (Xt,Wt+1; γ) (1) Yt = g (Xt,Vt; γ) . (2) This representation handles a stochastic process by finding three objects: a vector that l describes the position of the system (a state, Xt X R ) and two functions, one mapping ∈ ⊂ 1 the state today into the state tomorrow (the transition equation, (1)) and one mapping the state into observables, Yt (the measurement equation, (2)). -
Lecture 19: Wavelet Compression of Time Series and Images
Lecture 19: Wavelet compression of time series and images c Christopher S. Bretherton Winter 2014 Ref: Matlab Wavelet Toolbox help. 19.1 Wavelet compression of a time series The last section of wavelet leleccum notoolbox.m demonstrates the use of wavelet compression on a time series. The idea is to keep the wavelet coefficients of largest amplitude and zero out the small ones. 19.2 Wavelet analysis/compression of an image Wavelet analysis is easily extended to two-dimensional images or datasets (data matrices), by first doing a wavelet transform of each column of the matrix, then transforming each row of the result (see wavelet image). The wavelet coeffi- cient matrix has the highest level (largest-scale) averages in the first rows/columns, then successively smaller detail scales further down the rows/columns. The ex- ample also shows fine results with 50-fold data compression. 19.3 Continuous Wavelet Transform (CWT) Given a continuous signal u(t) and an analyzing wavelet (x), the CWT has the form Z 1 s − t W (λ, t) = λ−1=2 ( )u(s)ds (19.3.1) −∞ λ Here λ, the scale, is a continuous variable. We insist that have mean zero and that its square integrates to 1. The continuous Haar wavelet is defined: 8 < 1 0 < t < 1=2 (t) = −1 1=2 < t < 1 (19.3.2) : 0 otherwise W (λ, t) is proportional to the difference of running means of u over successive intervals of length λ/2. 1 Amath 482/582 Lecture 19 Bretherton - Winter 2014 2 In practice, for a discrete time series, the integral is evaluated as a Riemann sum using the Matlab wavelet toolbox function cwt. -
Alternative Tests for Time Series Dependence Based on Autocorrelation Coefficients
Alternative Tests for Time Series Dependence Based on Autocorrelation Coefficients Richard M. Levich and Rosario C. Rizzo * Current Draft: December 1998 Abstract: When autocorrelation is small, existing statistical techniques may not be powerful enough to reject the hypothesis that a series is free of autocorrelation. We propose two new and simple statistical tests (RHO and PHI) based on the unweighted sum of autocorrelation and partial autocorrelation coefficients. We analyze a set of simulated data to show the higher power of RHO and PHI in comparison to conventional tests for autocorrelation, especially in the presence of small but persistent autocorrelation. We show an application of our tests to data on currency futures to demonstrate their practical use. Finally, we indicate how our methodology could be used for a new class of time series models (the Generalized Autoregressive, or GAR models) that take into account the presence of small but persistent autocorrelation. _______________________________________________________________ An earlier version of this paper was presented at the Symposium on Global Integration and Competition, sponsored by the Center for Japan-U.S. Business and Economic Studies, Stern School of Business, New York University, March 27-28, 1997. We thank Paul Samuelson and the other participants at that conference for useful comments. * Stern School of Business, New York University and Research Department, Bank of Italy, respectively. 1 1. Introduction Economic time series are often characterized by positive -
Randomized Algorithms
Chapter 9 Randomized Algorithms randomized The theme of this chapter is madendrizo algorithms. These are algorithms that make use of randomness in their computation. You might know of quicksort, which is efficient on average when it uses a random pivot, but can be bad for any pivot that is selected without randomness. Analyzing randomized algorithms can be difficult, so you might wonder why randomiza- tion in algorithms is so important and worth the extra effort. Well it turns out that for certain problems randomized algorithms are simpler or faster than algorithms that do not use random- ness. The problem of primality testing (PT), which is to determine if an integer is prime, is a good example. In the late 70s Miller and Rabin developed a famous and simple random- ized algorithm for the problem that only requires polynomial work. For over 20 years it was not known whether the problem could be solved in polynomial work without randomization. Eventually a polynomial time algorithm was developed, but it is much more complicated and computationally more costly than the randomized version. Hence in practice everyone still uses the randomized version. There are many other problems in which a randomized solution is simpler or cheaper than the best non-randomized solution. In this chapter, after covering the prerequisite background, we will consider some such problems. The first we will consider is the following simple prob- lem: Question: How many comparisons do we need to find the top two largest numbers in a sequence of n distinct numbers? Without the help of randomization, there is a trivial algorithm for finding the top two largest numbers in a sequence that requires about 2n − 3 comparisons. -
Time Series: Co-Integration
Time Series: Co-integration Series: Economic Forecasting; Time Series: General; Watson M W 1994 Vector autoregressions and co-integration. Time Series: Nonstationary Distributions and Unit In: Engle R F, McFadden D L (eds.) Handbook of Econo- Roots; Time Series: Seasonal Adjustment metrics Vol. IV. Elsevier, The Netherlands N. H. Chan Bibliography Banerjee A, Dolado J J, Galbraith J W, Hendry D F 1993 Co- Integration, Error Correction, and the Econometric Analysis of Non-stationary Data. Oxford University Press, Oxford, UK Time Series: Cycles Box G E P, Tiao G C 1977 A canonical analysis of multiple time series. Biometrika 64: 355–65 Time series data in economics and other fields of social Chan N H, Tsay R S 1996 On the use of canonical correlation science often exhibit cyclical behavior. For example, analysis in testing common trends. In: Lee J C, Johnson W O, aggregate retail sales are high in November and Zellner A (eds.) Modelling and Prediction: Honoring December and follow a seasonal cycle; voter regis- S. Geisser. Springer-Verlag, New York, pp. 364–77 trations are high before each presidential election and Chan N H, Wei C Z 1988 Limiting distributions of least squares follow an election cycle; and aggregate macro- estimates of unstable autoregressive processes. Annals of Statistics 16: 367–401 economic activity falls into recession every six to eight Engle R F, Granger C W J 1987 Cointegration and error years and follows a business cycle. In spite of this correction: Representation, estimation, and testing. Econo- cyclicality, these series are not perfectly predictable, metrica 55: 251–76 and the cycles are not strictly periodic. -
MA3K0 - High-Dimensional Probability
MA3K0 - High-Dimensional Probability Lecture Notes Stefan Adams i 2020, update 06.05.2020 Notes are in final version - proofreading not completed yet! Typos and errors will be updated on a regular basis Contents 1 Prelimaries on Probability Theory 1 1.1 Random variables . .1 1.2 Classical Inequalities . .4 1.3 Limit Theorems . .6 2 Concentration inequalities for independent random variables 8 2.1 Why concentration inequalities . .8 2.2 Hoeffding’s Inequality . 10 2.3 Chernoff’s Inequality . 13 2.4 Sub-Gaussian random variables . 15 2.5 Sub-Exponential random variables . 22 3 Random vectors in High Dimensions 27 3.1 Concentration of the Euclidean norm . 27 3.2 Covariance matrices and Principal Component Analysis (PCA) . 30 3.3 Examples of High-Dimensional distributions . 32 3.4 Sub-Gaussian random variables in higher dimensions . 34 3.5 Application: Grothendieck’s inequality . 36 4 Random Matrices 36 4.1 Geometrics concepts . 36 4.2 Concentration of the operator norm of random matrices . 38 4.3 Application: Community Detection in Networks . 41 4.4 Application: Covariance Estimation and Clustering . 41 5 Concentration of measure - general case 43 5.1 Concentration by entropic techniques . 43 5.2 Concentration via Isoperimetric Inequalities . 50 5.3 Some matrix calculus and covariance estimation . 54 6 Basic tools in high-dimensional probability 57 6.1 Decoupling . 57 6.2 Concentration for Anisotropic random vectors . 62 6.3 Symmetrisation . 63 7 Random Processes 64 ii Preface Introduction We discuss an elegant argument that showcases the -
Generating Time Series with Diverse and Controllable Characteristics
GRATIS: GeneRAting TIme Series with diverse and controllable characteristics Yanfei Kang,∗ Rob J Hyndman,† and Feng Li‡ Abstract The explosion of time series data in recent years has brought a flourish of new time series analysis methods, for forecasting, clustering, classification and other tasks. The evaluation of these new methods requires either collecting or simulating a diverse set of time series benchmarking data to enable reliable comparisons against alternative approaches. We pro- pose GeneRAting TIme Series with diverse and controllable characteristics, named GRATIS, with the use of mixture autoregressive (MAR) models. We simulate sets of time series using MAR models and investigate the diversity and coverage of the generated time series in a time series feature space. By tuning the parameters of the MAR models, GRATIS is also able to efficiently generate new time series with controllable features. In general, as a costless surrogate to the traditional data collection approach, GRATIS can be used as an evaluation tool for tasks such as time series forecasting and classification. We illustrate the usefulness of our time series generation process through a time series forecasting application. Keywords: Time series features; Time series generation; Mixture autoregressive models; Time series forecasting; Simulation. 1 Introduction With the widespread collection of time series data via scanners, monitors and other automated data collection devices, there has been an explosion of time series analysis methods developed in the past decade or two. Paradoxically, the large datasets are often also relatively homogeneous in the industry domain, which limits their use for evaluation of general time series analysis methods (Keogh and Kasetty, 2003; Mu˜nozet al., 2018; Kang et al., 2017). -
Monte Carlo Smoothing for Nonlinear Time Series
Monte Carlo Smoothing for Nonlinear Time Series Simon J. GODSILL, Arnaud DOUCET, and Mike WEST We develop methods for performing smoothing computations in general state-space models. The methods rely on a particle representation of the filtering distributions, and their evolution through time using sequential importance sampling and resampling ideas. In particular, novel techniques are presented for generation of sample realizations of historical state sequences. This is carried out in a forward-filtering backward-smoothing procedure that can be viewed as the nonlinear, non-Gaussian counterpart of standard Kalman filter-based simulation smoothers in the linear Gaussian case. Convergence in the mean squared error sense of the smoothed trajectories is proved, showing the validity of our proposed method. The methods are tested in a substantial application for the processing of speech signals represented by a time-varying autoregression and parameterized in terms of time-varying partial correlation coefficients, comparing the results of our algorithm with those from a simple smoother based on the filtered trajectories. KEY WORDS: Bayesian inference; Non-Gaussian time series; Nonlinear time series; Particle filter; Sequential Monte Carlo; State- space model. 1. INTRODUCTION and In this article we develop Monte Carlo methods for smooth- g(yt+1|xt+1)p(xt+1|y1:t ) p(xt+1|y1:t+1) = . ing in general state-space models. To fix notation, consider p(yt+1|y1:t ) the standard Markovian state-space model (West and Harrison 1997) Similarly, smoothing can be performed recursively backward in time using the smoothing formula xt+1 ∼ f(xt+1|xt ) (state evolution density), p(xt |y1:t )f (xt+1|xt ) p(x |y ) = p(x + |y ) dx + . -
HIGHER MOMENTS of BANACH SPACE VALUED RANDOM VARIABLES 1. Introduction Let X Be a Random Variable with Values in a Banach Space
HIGHER MOMENTS OF BANACH SPACE VALUED RANDOM VARIABLES SVANTE JANSON AND STEN KAIJSER Abstract. We define the k:th moment of a Banach space valued ran- dom variable as the expectation of its k:th tensor power; thus the mo- ment (if it exists) is an element of a tensor power of the original Banach space. We study both the projective and injective tensor products, and their relation. Moreover, in order to be general and flexible, we study three different types of expectations: Bochner integrals, Pettis integrals and Dunford integrals. One of the problems studied is whether two random variables with the same injective moments (of a given order) necessarily have the same projective moments; this is of interest in applications. We show that this holds if the Banach space has the approximation property, but not in general. Several sections are devoted to results in special Banach spaces, in- cluding Hilbert spaces, CpKq and Dr0; 1s. The latter space is non- separable, which complicates the arguments, and we prove various pre- liminary results on e.g. measurability in Dr0; 1s that we need. One of the main motivations of this paper is the application to Zolotarev metrics and their use in the contraction method. This is sketched in an appendix. 1. Introduction Let X be a random variable with values in a Banach space B. To avoid measurability problems, we assume for most of this section for simplicity that B is separable and X Borel measurable; see Section 3 for measurability in the general case. Moreover, for definiteness, we consider real Banach spaces only; the complex case is similar. -
Measuring Complexity and Predictability of Time Series with Flexible Multiscale Entropy for Sensor Networks
Article Measuring Complexity and Predictability of Time Series with Flexible Multiscale Entropy for Sensor Networks Renjie Zhou 1,2, Chen Yang 1,2, Jian Wan 1,2,*, Wei Zhang 1,2, Bo Guan 3,*, Naixue Xiong 4,* 1 School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou 310018, China; [email protected] (R.Z.); [email protected] (C.Y.); [email protected] (W.Z.) 2 Key Laboratory of Complex Systems Modeling and Simulation of Ministry of Education, Hangzhou Dianzi University, Hangzhou 310018, China 3 School of Electronic and Information Engineer, Ningbo University of Technology, Ningbo 315211, China 4 Department of Mathematics and Computer Science, Northeastern State University, Tahlequah, OK 74464, USA * Correspondence: [email protected] (J.W.); [email protected] (B.G.); [email protected] (N.X.) Tel.: +1-404-645-4067 (N.X.) Academic Editor: Mohamed F. Younis Received: 15 November 2016; Accepted: 24 March 2017; Published: 6 April 2017 Abstract: Measurement of time series complexity and predictability is sometimes the cornerstone for proposing solutions to topology and congestion control problems in sensor networks. As a method of measuring time series complexity and predictability, multiscale entropy (MSE) has been widely applied in many fields. However, sample entropy, which is the fundamental component of MSE, measures the similarity of two subsequences of a time series with either zero or one, but without in-between values, which causes sudden changes of entropy values even if the time series embraces small changes. This problem becomes especially severe when the length of time series is getting short. For solving such the problem, we propose flexible multiscale entropy (FMSE), which introduces a novel similarity function measuring the similarity of two subsequences with full-range values from zero to one, and thus increases the reliability and stability of measuring time series complexity. -
Time Series Analysis 1
Basic concepts Autoregressive models Moving average models Time Series Analysis 1. Stationary ARMA models Andrew Lesniewski Baruch College New York Fall 2019 A. Lesniewski Time Series Analysis Basic concepts Autoregressive models Moving average models Outline 1 Basic concepts 2 Autoregressive models 3 Moving average models A. Lesniewski Time Series Analysis Basic concepts Autoregressive models Moving average models Time series A time series is a sequence of data points Xt indexed a discrete set of (ordered) dates t, where −∞ < t < 1. Each Xt can be a simple number or a complex multi-dimensional object (vector, matrix, higher dimensional array, or more general structure). We will be assuming that the times t are equally spaced throughout, and denote the time increment by h (e.g. second, day, month). Unless specified otherwise, we will be choosing the units of time so that h = 1. Typically, time series exhibit significant irregularities, which may have their origin either in the nature of the underlying quantity or imprecision in observation (or both). Examples of time series commonly encountered in finance include: (i) prices, (ii) returns, (iii) index levels, (iv) trading volums, (v) open interests, (vi) macroeconomic data (inflation, new payrolls, unemployment, GDP, housing prices, . ) A. Lesniewski Time Series Analysis Basic concepts Autoregressive models Moving average models Time series For modeling purposes, we assume that the elements of a time series are random variables on some underlying probability space. Time series analysis is a set of mathematical methodologies for analyzing observed time series, whose purpose is to extract useful characteristics of the data. These methodologies fall into two broad categories: (i) non-parametric, where the stochastic law of the time series is not explicitly specified; (ii) parametric, where the stochastic law of the time series is assumed to be given by a model with a finite (and preferably tractable) number of parameters. -
Control Policy with Autocorrelated Noise in Reinforcement Learning for Robotics
International Journal of Machine Learning and Computing, Vol. 5, No. 2, April 2015 Control Policy with Autocorrelated Noise in Reinforcement Learning for Robotics Paweł Wawrzyński primitives by means of RL algorithms based on MDP Abstract—Direct application of reinforcement learning in framework, but it does not alleviate the problem of robot robotics rises the issue of discontinuity of control signal. jerking. The current paper is intended to fill this gap. Consecutive actions are selected independently on random, In this paper, control policy is introduced that may undergo which often makes them excessively far from one another. Such reinforcement learning and have the following properties: control is hardly ever appropriate in robots, it may even lead to their destruction. This paper considers a control policy in which It is applicable to robot control optimization. consecutive actions are modified by autocorrelated noise. That It does not lead to robot jerking. policy generally solves the aforementioned problems and it is readily applicable in robots. In the experimental study it is It can be optimized by any RL algorithm that is designed applied to three robotic learning control tasks: Cart-Pole to optimize a classical stochastic control policy. SwingUp, Half-Cheetah, and a walking humanoid. The policy introduced here is based on a deterministic transformation of state combined with a random element in Index Terms—Machine learning, reinforcement learning, actorcritics, robotics. the form of a specific stochastic process, namely the moving average. The paper is organized as follows. In Section II the I. INTRODUCTION problem of our interest is defined. Section III presents the main contribution of this paper i.e., a stochastic control policy Reinforcement learning (RL) addresses the problem of an that prevents robot jerking while learning.