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Textbook Theory of Stochastic Objects Probability Stochastic Processes and Inference 1St Edition Micheas Ebook All Chapter PDF
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Theory of
Stochastic Objects
Probability, Stochastic Processes
and Inference
CHAPMAN & HALL/CRC
Texts in Statistical Science Series
Series Editors
Joseph K. Blitzstein, Harvard University, USA
Julian J. Faraway, University of Bath, UK
Martin Tanner, Northwestern University, USA
Jim Zidek, University of British Columbia, Canada
Mathematical Statistics: Basic Ideas and Selected Multivariate Survival Analysis and Competing Risks
Topics, Volume II M. Crowder
P. J. Bickel and K. A. Doksum Statistical Analysis of Reliability Data
Analysis of Categorical Data with R M.J. Crowder, A.C. Kimber, T.J. Sweeting,
C. R. Bilder and T. M. Loughin and R.L. Smith
Statistical Methods for SPC and TQM An Introduction to Generalized Linear Models,
D. Bissell Third Edition
A.J. Dobson and A.G. Barnett
Introduction to Probability
J. K. Blitzstein and J. Hwang Nonlinear Time Series: Theory, Methods, and
Applications with R Examples
Bayesian Methods for Data Analysis, Third Edition R. Douc, E. Moulines, and D.S. Stoffer
B.P. Carlin and T.A. Louis
Introduction to Optimization Methods and Their
Statistics in Research and Development, Applications in Statistics
Second Edition B.S. Everitt
R. Caulcutt
Extending the Linear Model with R: Generalized
The Analysis of Time Series: An Introduction, Linear, Mixed Effects and Nonparametric Regression
Sixth Edition Models, Second Edition
C. Chatfield J.J. Faraway
Introduction to Multivariate Analysis Linear Models with R, Second Edition
C. Chatfield and A.J. Collins J.J. Faraway
Problem Solving: A Statistician’s Guide, A Course in Large Sample Theory
Second Edition T.S. Ferguson
C. Chatfield
Multivariate Statistics: A Practical Approach
Statistics for Technology: A Course in Applied B. Flury and H. Riedwyl
Statistics, Third Edition
C. Chatfield
Readings in Decision Analysis Exercises and Solutions in Statistical Theory
S. French L.L. Kupper, B.H. Neelon, and S.M. O’Brien
Discrete Data Analysis with R: Visualization and Design and Analysis of Experiments with R
Modeling Techniques for Categorical and Count J. Lawson
Data Design and Analysis of Experiments with SAS
M. Friendly and D. Meyer J. Lawson
Markov Chain Monte Carlo: Stochastic Simulation A Course in Categorical Data Analysis
for Bayesian Inference, Second Edition T. Leonard
D. Gamerman and H.F. Lopes
Statistics for Accountants
Bayesian Data Analysis, Third Edition S. Letchford
A. Gelman, J.B. Carlin, H.S. Stern, D.B. Dunson,
A. Vehtari, and D.B. Rubin Introduction to the Theory of Statistical Inference
H. Liero and S. Zwanzig
Multivariate Analysis of Variance and Repeated
Measures: A Practical Approach for Behavioural Statistical Theory, Fourth Edition
Scientists B.W. Lindgren
D.J. Hand and C.C. Taylor Stationary Stochastic Processes: Theory and
Practical Longitudinal Data Analysis Applications
D.J. Hand and M. Crowder G. Lindgren
Linear Models and the Relevant Distributions and Statistics for Finance
Matrix Algebra E. Lindström, H. Madsen, and J. N. Nielsen
D.A. Harville The BUGS Book: A Practical Introduction to
Logistic Regression Models Bayesian Analysis
J.M. Hilbe D. Lunn, C. Jackson, N. Best, A. Thomas, and
D. Spiegelhalter
Richly Parameterized Linear Models: Additive, Time
Series, and Spatial Models Using Random Effects Introduction to General and Generalized
J.S. Hodges Linear Models
H. Madsen and P. Thyregod
Statistics for Epidemiology
N.P. Jewell Time Series Analysis
H. Madsen
Stochastic Processes: An Introduction, Third Edition
P.W. Jones and P. Smith Pólya Urn Models
H. Mahmoud
The Theory of Linear Models
B. Jørgensen Randomization, Bootstrap and Monte Carlo
Methods in Biology, Third Edition
Pragmatics of Uncertainty B.F.J. Manly
J.B. Kadane
Statistical Regression and Classification:
Principles of Uncertainty From Linear Models to Machine Learning
J.B. Kadane N. Matloff
Graphics for Statistics and Data Analysis with R Introduction to Randomized Controlled Clinical
K.J. Keen Trials, Second Edition
Mathematical Statistics J.N.S. Matthews
K. Knight Statistical Rethinking: A Bayesian Course with
Introduction to Functional Data Analysis Examples in R and Stan
P. Kokoszka and M. Reimherr R. McElreath
Introduction to Multivariate Analysis: Linear and Statistical Methods in Agriculture and Experimental
Nonlinear Modeling Biology, Second Edition
S. Konishi R. Mead, R.N. Curnow, and A.M. Hasted
Nonparametric Methods in Statistics with SAS Statistics in Engineering: A Practical Approach
Applications A.V. Metcalfe
O. Korosteleva Theory of Stochastic Objects: Probability, Stochastic
Modeling and Analysis of Stochastic Systems, Processes and Inference
Third Edition A.C. Micheas
V.G. Kulkarni Statistical Inference: An Integrated Approach,
Exercises and Solutions in Biostatistical Theory Second Edition
L.L. Kupper, B.H. Neelon, and S.M. O’Brien H. S. Migon, D. Gamerman, and F. Louzada
Beyond ANOVA: Basics of Applied Statistics Spatio-Temporal Methods in Environmental
R.G. Miller, Jr. Epidemiology
G. Shaddick and J.V. Zidek
A Primer on Linear Models
J.F. Monahan Decision Analysis: A Bayesian Approach
J.Q. Smith
Stochastic Processes: From Applications to Theory
P.D Moral and S. Penev Analysis of Failure and Survival Data
P. J. Smith
Applied Stochastic Modelling, Second Edition
B.J.T. Morgan Applied Statistics: Handbook of GENSTAT
Analyses
Elements of Simulation
B.J.T. Morgan E.J. Snell and H. Simpson
Theory of
Stochastic Objects
Probability, Stochastic Processes
and Inference
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
2 Statistical Inference . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.2 Decision Theory . . . . . . . . . . . . . . . . . . . . . . . . . . 27
ix
x CONTENTS
2.3 Point Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.3.1 Classical Methods . . . . . . . . . . . . . . . . . . . . . . 30
2.3.2 Bayesian Approach . . . . . . . . . . . . . . . . . . . . . . 39
2.3.3 Evaluating Point Estimators Using Decision Theory . . . . 40
2.3.4 Convergence Concepts and Asymptotic Behavior . . . . . . 42
2.4 Interval Estimation . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.4.1 Confidence Intervals . . . . . . . . . . . . . . . . . . . . . 45
2.4.2 Highest Posterior Density Credible Sets . . . . . . . . . . . 46
2.4.3 Decision Theoretic . . . . . . . . . . . . . . . . . . . . . . 48
2.5 Hypothesis Testing . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.5.1 Classic Methods . . . . . . . . . . . . . . . . . . . . . . . 49
2.5.2 Bayesian Testing Procedures . . . . . . . . . . . . . . . . . 55
2.5.3 Decision Theoretic . . . . . . . . . . . . . . . . . . . . . . 58
2.5.4 Classical and Bayesian p-values . . . . . . . . . . . . . . . 60
2.5.5 Reconciling the Bayesian and Classical Paradigms . . . . . 65
2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
2.7 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
Preface
Random variables and random vectors have been well defined and studied for
over a century. Subsequently, in the history of statistical science, researchers began
considering collections of points together, which gave birth to point process theory
and more recently, to random set theory. This was mainly motivated due to advances
in technology and the types of data that experimenters began investigating, which
in turn led to the creation and investigation of advanced statistical methods able to
handle such data.
In this book we take the reader on a journey through some of the most essential
topics in mathematics and statistics, constantly building on previous concepts, mak-
ing the transition from elementary statistical inference to the advanced probabilistic
treatment more natural and concrete. Our central focus is defining and exploring the
concept of a random quantity or object in different contexts, where depending on
the data under consideration, “random objects” are described using random vari-
ables, vectors or matrices, stochastic processes, integrals and differential equations,
or point processes and random sets.
This view of random objects has not been adequately investigated and pre-
sented in mathematics and statistics textbooks that are out there since they have
mostly concentrated on specific parts of the aforementioned concepts. This is one
of the reasons why I undertake the task of writing a textbook that would present
the knowledge in a concrete way, through examples and exercises, which is sorely
needed in understanding statistical inference, probability theory and stochastic pro-
cesses. This approach will help the instructor of these topics to engage the students
through problem sets and present the theory and applications involved in a way that
they will appreciate.
Since this monumental task cannot be accomplished in a single textbook, the
theoretical and modeling topics considered have been organized in two texts; this
text is concerned with rudimentary to advanced theoretical aspects of random ob-
jects based on random variables, including statistical inference, probability theory
and stochastic processes. The modeling of these objects and their applications to
real life data is presented in the text Theory and Modeling of Stochastic Objects:
Point Processes and Random Sets (forthcoming, hereafter referred to as TMSO-
PPRS). The latter stochastic objects are a natural extension of random variables
xv
xvi PREFACE
and vectors and we can think of the TMSO-PPRS text as a natural continuation of
the theory presented herein.
In particular, we present a comprehensive account of topics in statistics in a
way that can be a natural extension of a more traditional graduate course in prob-
ability theory. This is especially true for Chapters 1 and 2, which is a feature that
has been lacking from available texts in probability theory. Another distinguishing
feature of this text is that we have included an amazing amount of material. More
precisely, one would need to use at least one book on real analysis, one in measure
and/or probability theory, one in stochastic processes, and at least one on statistics
to capture just the expository material that has gone into this text.
Being a teacher and mentor to undergraduate and graduate students, I have seen
their attempts to comprehend new material from rudimentary to advanced mathe-
matical and statistical concepts. I have also witnessed their struggles with essential
topics in statistics, such as defining a probability space for a random variable, which
is one of the most important constructs in statistics. This book attempts to introduce
these concepts in a novel way making it more accessible to students and researchers
through examples. This approach is lacking in most textbooks/monographs that one
can use to teach students.
Instructors and researchers in academia often find themselves complementing
material from several books in order to provide a spherical overview of the topics
of a class. This book is the result of my efforts over the years to provide comprehen-
sive and compact accounts of topics I had to teach to undergraduate and graduate
students.
Therefore, the book is targeted toward students at the master’s and Ph.D. levels,
as well as academicians in the mathematics and statistics disciplines. Although the
concepts will be built from the master’s level up, the book addresses advanced read-
ers in the later chapters. When used as a textbook, prior knowledge of probability
or measure theory is welcomed but not necessary.
In particular, Chapters 1 and 2 can be used for several courses on statistical
inference with minor additions for any proofs the instructor chooses to further il-
lustrate. In these chapters we summarize over a century and a half of development
in mathematical statistics. Depending on the level of the course, the instructor can
select specific exercises to supplement the text, in order to provide a better under-
standing and more depth into the concepts under consideration. For example, using
selectively the material and exercises from Chapters 1, 2, 4 and 5, I have taught
several sequences on statistical inference at the University of Missouri (MU), in-
cluding Stat7750/60 and 4750/60 (statistical inference course at the undergraduate
and master’s level), Stat8710/20 (intermediate statistical inference course at the
Ph.D. level) and Stat9710/20 (advanced inference for Ph.D. students).
At the master’s level, it is recommended that the instructor omits advanced top-
ics from Chapter 2, including most of the decision-theoretic topics and the corre-
PREFACE xvii
sponding proofs of the relevant results. Basic theorems and their proofs, such as
the Bayes or the factorization theorem, should be presented to the students in de-
tail. The proofs of such results are included as exercises, and the instructor can use
the solution manual in order to choose what they deem appropriate to illustrate to
the students.
For example, when teaching a statistical inference course for Ph.D. students, all
concepts presented in Chapters 1 and 2 should be introduced, as well as topics on
asymptotics from Chapter 5. However, certain proofs might be beyond the level of
an intermediate statistical inference course for Ph.D. students. For example, when
it comes to introducing evaluation of point estimators, we may omit the explicit
proof of all parts of the important remark 2.12 and simply present the material, or
the compactness results in Chapter 5, and focus only on the central limit theorems
or Slutsky and Cramér theorems.
For an advanced course on statistical inference at the Ph.D. level, one would
omit most of the rudimentary results of Chapter 1, and focus on topics from Chap-
ter 2 (inference), Chapter 4 (e.g., characteristic functions), and Chapter 5 (asymp-
totics), including all the important proofs of the theorems and remarks presented in
the text. Once again, the instructor can find the solution manual invaluable in this
case, since it will allow them to select the topics they want to present along with
concrete proofs.
Chapters 3-5 can be used to introduce measure theoretic probability to mathe-
matics and statistics graduate students. Some of the proofs should be skipped since
it would take more than one semester to go through all the material. More precisely,
over the past decade when I taught the advanced probability theory course Stat9810
at MU, I had to omit most of the measure theoretic proofs and be quite selective in
the material for a one-semester course. For example, important theorems and their
proofs, like Fubini, Kolmogorov 0-1 Law, Radon-Nikodym or Kolmogorov Three
Series, should be illustrated to the students in detail.
In contrast, one may skip the proofs of the theoretical development of the
Carathodory extension theorem, or omit the proofs of the decomposition theorems
(Chapter 3) and the compactness theorems of Chapter 5. Of course, most of the
important results in measure and probability theory and their proofs are still there
for the inquisitive student and researcher who needs to go deeper. These chapters
are fairly comprehensive and self-contained, which is important for Ph.D. students
that have not had an advanced real analysis course.
Chapter 6 is a fairly comprehensive account of stochastic processes in discrete
time and in particular Markov chains. This material has been used to teach an intro-
ductory course on stochastic processes to both undergraduate and master’s students
(Stat4850/7850), as well as Ph.D.-level students in one semester (Stat 9820, a con-
tinuation of Stat9810). Note that most of the development and exposition of discrete
Markov chains and processes does not require heavy measure theory as presented
xviii PREFACE
in Chapters 6 and 7, therefore making it accessible to a wide variety of students, in-
cluding undergraduates. A good working knowledge of matrix algebra is required
in this case, which is a requirement for the undergraduate and graduate students
when they take this course. In particular, the instructor simply needs to explain in a
rudimentary way “transition probability measures,” e.g., replace it with the notion
of transition probabilities and matrices, and then the material can be presented to
the students in a non-measure theoretic way.
The material in Chapter 7 has been used to teach stochastic processes in con-
tinuous time to Ph.D. (Stat 9820) and advanced master’s level students, including
topics from Chapter 6, as mentioned above. The instructor can supplement materi-
als from other chapters as they see fit in order to build the mathematical foundations
of the concepts presented as needed. For example, in the beginning of the class we
may conduct a mini review of probability theory and Markov chains before jumping
into continuous time stochastic processes.
As you begin reading, several features that help with the learning process should
immediately draw your attention; each chapter begins with basic illustrations and
ends with a more advanced treatment of the topic at hand. We are exploring and
reconciling, when feasible, both the frequentist and Bayesian approaches to the
topics considered. In addition, recent developments in statistics are presented or
referenced in the text and summary of each chapter.
Proofs for most of the theorems, lemmas and remarks presented in each chapter
are given in the text or are requested as exercises, with the exception of the rudi-
mentary Chapters 1 and 2, where the proofs are requested as exercises only. Proofs
and additional information on the topics discussed can be found in the books or
journal papers referenced at the summary section of each chapter. Of course, the
interested reader can find proofs to selected exercises in the supplementary online
material for the book (see website below).
The theorems and results presented in the text can range from easy to compli-
cated, and therefore, we usually follow them with an illustrative remark or example
to explain the new concept. To further help in our understanding of the material
and for quick reference, various topics and complements from mathematics and
statistics are included in an appendix.
The MATLAB R code used for the examples presented along with solutions
to exercises and other material, such as errata, can be found at the book website
https://www.crcpress.com/9781466515208.
There are many people that have contributed, in their own way, to the creation
of this book. I am grateful to the faculty members of the Department of Statistics at
the University of Missouri, USA, for their constructive interactions and discussions
over the years. In particular, special thanks go to my friends and colleagues Christo-
pher Wikle, Scott Holan, Stamatis Dostoglou and Joe Cavanaugh (University of
PREFACE xix
Iowa), and my friend and mentor Konstantinos Zografos from the Department of
Mathematics, University of Ioannina, Greece. Lastly, my academic advisor, Distin-
guished Professor of Statistics Dipak Dey, Department of Statistics, University of
Connecticut, USA, has been an inspiration to me over the years.
I am grateful to Professors Stamatis Dostoglou, Department of Mathematics,
University of Missouri, USA, Georg Lindgren, Department of Mathematical Statis-
tics, Centre for Mathematical Sciences, Lund, Sweden, and an anonymous re-
viewer, for their invaluable comments and suggestions regarding earlier versions
of the manuscript. Special thanks go to my friend and colleague Distinguished Pro-
fessor Noel Cressie, School of Mathematics and Applied Statistics, University of
Wollongong, Australia, for his support and encouragement over the years as I was
working on the manuscript, as well as for his advice regarding all aspects of the
book, including its title.
Additional thanks go to the hundreds of students for their undivided attention
while they had to take classes from me on these topics and have helped me better
myself through the teaching process. In particular, special thanks goes to all my
graduate students, especially to Jiaxun Chen and Alex Oard. I am also grateful to
Rob Calver, Michele Dimont, Becky Condit and the friends at Chapman-Hall/CRC
for their patience while the manuscript was composed and for their help with the
copy edit process.
Above all, my appreciation and love to my family, my daughters Vaso, Evi and
Christina, my wife Lada and my father Christos, for their unconditional love and
understanding.
I apologize in advance for any typos or errors in the text and I would be grateful
for any comments, suggestions or corrections the kind reader would like to bring to
my attention.
Sakis Micheas
December 2017
List of Figures
xxi
List of Tables
2.1 Schematic for any hypothesis testing problem along with the
occurrence of the Type I and II errors. . . . . . . . . . . . . . . . 50
2.2 Simulations of Monte Carlo goodness-of-fit tests. We used
L = 100000 predictive samples for n = 10, 50, 100 observed sample
points and the data is simulated from three models Uni f (0, 1),
Gamma(10, 10), and N(−10, 1). We choose λ = 1 for the
hyperparameter, and p pred is provided for four statistics
T 1 (X) = X(1) , T 2 (X) = X(n) , T 3 (X) = X, and T 4 (X) = S 2 . Based on
these results T 1 emerges as the best test statistic in order to assess
the entertained model. . . . . . . . . . . . . . . . . . . . . . . . 64
xxiii
List of Abbreviations
xxv
xxvi LIST OF ABBREVIATIONS
PP Point Process
RHS Right-Hand Side
RCLL Right Continuous Left Limits
SLLN Strong Law of Large Numbers
sMG Sub-Martingale
SMG Super-Martingale
TMSO-PPRS Theory and Modeling of Stochastic Objects: Point Processes
and Random Sets
UMVUE Uniformly Minimum Variance Unbiased Estimator
WLLN Weak Law of Large Numbers
wlog Without Loss of Generality
w.p. With Probability
List of Symbols
xxvii
xxviii LIST OF SYMBOLS
an
an = o(bn ) bn
→ 0 as n → ∞
1:1 One-to-one (function)
h dQ i
dµ
Radon-Nikodym derivative of Q with respect to µ
p
R, R Real numbers in 1 and p dimensions
R = R ∪ {−∞} ∪ {+∞} Extended real line
R+ , R0+ {x ∈ R : x > 0}, {x ∈ R : x ≥ 0}
Q⊥µ Q and µ are mutually singular measures
[P], [µ] With respect to measure P or µ
Z Integers, {. . . , −2, −1, 0, 1, 2, . . .}
Z = Z ∪ {−∞} ∪ {+∞} Extended integers
Z+ , Z+0 , Z+ {1, 2, . . .}, {0, 1, 2, . . .}, {0, 1, 2, . . . , +∞}
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YOSEMITE
By Joaquin Miller
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(Died 1883)
By Joaquin Miller
Give honor and love forevermore
To this great man gone to rest;
Peace on the dim Plutonian shore,
Rest in the land of the blest.
APPLE BLOSSOMS
By William Wesley Martin
Have you plucked the apple blossoms in the spring? in the spring?
And caught their subtle odors in the spring?
Pink buds bursting at the light,
Crumpled petals baby-white,
Just to touch them a delight!
In the spring!
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Beneath the apple blossoms in the spring?
When the pink cascades were falling,
And the silver brooklets brawling,
And the cuckoo-bird is calling
In the spring?
If you have not, then you know not, in the spring, in the spring,
Half the color, beauty, wonder of the spring.
No sight can I remember,
Half so precious, half so tender,
As the apple blossoms render
In the spring!
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By A. C. Swinburne
INDIRECTION
By Richard Realf
Fair are the flowers and the children, but their subtle suggestion is
fairer;
Rare is the roseburst of dawn, but the secret that clasps it is rarer;
Sweet the exultance of song, but the strain that precedes it is
sweeter;
And never was poem yet writ, but the meaning out-mastered the
meter.
Back of the canvas that throbs the painter is hinted and hidden;
Into the statue that breathes the soul of the sculptor is bidden;
Under the joy that is felt lie the infinite issues of feeling;
Crowning the glory revealed is the glory that crowns the revealing.
Great are the symbols of being, but that which is symboled is
greater;
Vast the create and beheld, but vaster the inward creator;
Back of the sound broods the silence, back of the gift stands the
giving;
Back of the hand that receives thrill the sensitive nerves of receiving.
—Copyright by Funk & Wagnalls Co., New York, and used by kind
permission.
—Copyright by Funk & Wagnalls Co., New York, and used by kind
permission.
SONG OF SPRING
By Richard Realf
—Copyright by Funk & Wagnalls Co., New York, and used by kind
permission.
—Copyright by Funk & Wagnalls Co., New York, and used by kind
permission.
CHORUS
Lullaby, my gentle boy,
Sleeping in the wilderness,
Dreaming in thy childish joy
Of a mother’s fond caress,—
Lullaby, lullaby.
Sleep, while gleams the council fire,
Kindled by thy hunted sire:
Guarded by thy God above,
Sleep and dream of peace and love:
Dream not of the band that perished
From the sacred soil they cherished,
Nor the ruthless race that roams
O’er our ancient shrines and homes.
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TWILIGHT FANCIES
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