We describe spatio-temporal random processes using linear mixed models. We show how many commonly used models can be viewed as special cases of this general framework and pay close attention to models with separable or product-sum covariances. The proposed linear mixed model formulation facilitates the implementation of a novel algorithm using Stegle eigendecompositions, a recursive application of the Sherman-Morrison-Woodbury formula, and Helmert-Wolf blocking to efficiently invert separable and product-sum covariance matrices, even when every spatial location is not observed at every time point. We show our algorithm provides noticeable improvements over the standard Cholesky decomposition approach. Via simulations, we assess the performance of the separable and product-sum covariances and identify scenarios where separable covariances are noticeably inferior to product-sum covariances. We also compare likelihood-based and semivariogram-based estimation and discuss benefits and drawbacks of both. We use the proposed approach to analyze daily maximum temperature data in Oregon, USA, during the 2019 summer. We end by offering guidelines for choosing among these covariances and estimation methods based on properties of observed data.
Understanding and predicting environmental phenomena often requires the construction of spatio-temporal statistical models, which are typically Gaussian processes. A common assumption made on Gaussian processes is that of covariance stationarity, which is unrealistic in many geophysical applications. In this article, we introduce a deep-learning-inspired approach to construct descriptive nonstationary spatio-temporal models by modeling stationary processes on warped spatio-temporal domains. The warping functions we use are constructed using several simple injective warping units which, when co…
Models that capture the spatial and temporal dynamics are applicable in many science fields. Non-separable spatio-temporal models were introduced in the literature to capture these features. However, these models are generally complicated in construction and interpretation. We introduce a class of non-separable Transformed Gaussian Markov Random Fields (TGMRF) in which the dependence structure is flexible and facilitates simple interpretations concerning spatial, temporal and spatio-temporal parameters. Moreover, TGMRF models have the advantage of allowing specialists to define any desired mar…
The prevalence of multivariate space-time data collected from monitoring networks and satellites, or generated from numerical models, has brought much attention to multivariate spatio-temporal statistical models, where the covariance function plays a key role in modeling, inference, and prediction. For multivariate space-time data, understanding the spatio-temporal variability, within and across variables, is essential in employing a realistic covariance model. Meanwhile, the complexity of generic covariances often makes model fitting very challenging, and simplified covariance structures, inc…
Many applications require stochastic processes specified on two- or higher-dimensional domains; spatial or spatial-temporal modelling, for example. In these applications it is attractive, for conceptual simplicity and computational tractability, to propose a covariance function that is separable; e.g., the product of a covariance function in space and one in time. This paper presents a representation theorem for such a proposal, and shows that all processes with continuous separable covariance functions are second-order identical to the product of second-order uncorrelated processes. It discus…
I present an approach for modeling areal spatial covariance by considering the stationary distribution of a spatio-temporal Markov random walk. In the areal data case, this stationary distribution corresponds to an intrinsic simultaneous autoregressive (SAR) model for spatial correlation, and provides a principled approach to specifying areal spatial models when a spatio-temporal generating process can be assumed. I apply the approach to a study of spatial genetic variation of trout in a stream network in Connecticut, USA, and a study of crime rates in neighborhoods of Columbus, OH, USA.
Spatio-temporal covariances are important for describing the spatio-temporal variability of underlying random processes in geostatistical data. For second-order stationary processes, there exist subclasses of covariance functions that assume a simpler spatio-temporal dependence structure with separability and full symmetry. However, it is challenging to visualize and assess separability and full symmetry from spatio-temporal observations. In this work, we propose a functional data analysis approach that constructs test functions using the cross-covariances from time series observed at each pai…
Fine particulate matter (PM$_{2.5}$) has become a great concern worldwide due to its adverse health effects. PM$_{2.5}$ concentrations typically exhibit complex spatio-temporal variations. Both the mean and the spatio-temporal dependence evolve with time due to seasonality, which makes the statistical analysis of PM$_{2.5}$ challenging. In geostatistics, Gaussian process is a powerful tool for characterizing and predicting such spatio-temporal dynamics, for which the specification of a spatio-temporal covariance function is the key. While the extant literature offers a wide range of choices fo…
When analyzing the spatio-temporal dependence in most environmental and earth sciences variables such as pollutant concentrations at different levels of the atmosphere, a special property is observed: the covariances and cross-covariances are stronger in certain directions. This property is attributed to the presence of natural forces, such as wind, which cause the transport and dispersion of these variables. This spatio-temporal dynamics prompted the use of the Lagrangian reference frame alongside any Gaussian spatio-temporal geostatistical model. Under this modeling framework, a whole new cl…
Neural encoding studies explore the relationships between measurements of neural activity and measurements of a behavior that is viewed as a response to that activity. The coupling between neural and behavioral measurements is typically imperfect and difficult to measure.To enhance our ability to understand neural encoding relationships, we propose that a behavioral measurement may be decomposable as a sum of two latent components, such that the direct neural influence and prediction is primarily localized to the component which encodes temporal dependence. For this purpose, we propose to use …
Circular data arise in many areas of application. Recently, there has been interest in looking at circular data collected separately over time and over space. Here, we extend some of this work to the spatio-temporal setting, introducing space-time dependence. We accommodate covariates, implement full kriging and forecasting, and also allow for a nugget which can be time dependent. We work within a Bayesian framework, introducing suitable latent variables to facilitate Markov chain Monte Carlo (MCMC) model fitting. The Bayesian framework enables us to implement full inference, obtaining predict…
We consider a stationary spatio-temporal random process and assume that we have a sample. By defining a sequence of discrete Fourier transforms at canonical frequencies at each location, and using these complex valued random varables as observed sample, we obtain expressions for the spatio-temporal covariance functions and the spectral density functions of the spatio-temporal random processes. These spectra correspond to non separable class of random processes. The spatio-temporal covariance functions, obtained here are functions of the spatial distance and the temporal frequency and are simil…
We introduce a class of separable sample covariance matrices of the form $\widetilde{\mathcal{Q}}_1:=\widetilde A^{1/2} X \widetilde B X^* \widetilde A^{1/2}.$ Here $\widetilde{A}$ and $\widetilde{B}$ are positive definite matrices whose spectrums consist of bulk spectrums plus several spikes, i.e. larger eigenvalues that are separated from the bulks. Conceptually, we call $\widetilde{\mathcal{Q}}_1$ a \emph{spiked separable covariance matrix model}. On the one hand, this model includes the spiked covariance matrix as a special case with $\widetilde{B}=I$. On the other hand, it allows for more…
Determinantal point processes are models for regular spatial point patterns, with appealing probabilistic properties. We present their spatio-temporal counterparts and give examples of these models, based on spatio-temporal covariance functions which are separable and non-separable in space and time.
Covariance functions and variograms play a fundamental role in exploratory analysis and statistical modelling of spatial and spatio-temporal datasets. In this paper, we construct a new class of spatial covariance functions using the Fourier transform of some higher-order kernels. Further, we extend this class of the spatial covariance functions to the spatio-temporal setting by using the idea used in Ma (2003).
Environmental monitoring is a task that requires to surrogate system-wide information with limited sensor readings. Under the proximity principle, an environmental monitoring system can be based on the virtual sensing logic and then rely on distance-based prediction methods, such as $k$-nearest-neighbors, inverse distance weighted regression and spatio-temporal kriging. The last one is cumbersome with large datasets, but we show that a suitable separability assumption reduces its computational cost to an extent broader than considered insofar. Only spatial interpolation needs to be performed i…
Spatial statistics often involves Cholesky decomposition of covariance matrices. To ensure scalability to high dimensions, several recent approximations have assumed a sparse Cholesky factor of the precision matrix. We propose a hierarchical Vecchia approximation, whose conditional-independence assumptions imply sparsity in the Cholesky factors of both the precision and the covariance matrix. This remarkable property is crucial for applications to high-dimensional spatio-temporal filtering. We present a fast and simple algorithm to compute our hierarchical Vecchia approximation, and we provide…
Technological developments and open data policies have made large, global environmental datasets accessible to everyone. For analysing such datasets, including spatiotemporal correlations using traditional models based on Gaussian processes does not scale with data volume and requires strong assumptions about stationarity, separability, and distance measures of covariance functions that are often unrealistic for global data. Only very few modeling approaches suitably model spatiotemporal correlations while addressing both computational scalability as well as flexible covariance models. In this…
Atmospheric inverse modelling is a method for reconstructing historical fluxes of green-house gas between land and atmosphere, using observed atmospheric concentrations and an atmospheric tracer transport model. The small number of observed atmospheric concentrations in relation to the number of unknown flux components makes the inverse problem ill-conditioned, and assumptions on the fluxes are needed to constrain the solution. A common practise is to model the fluxes using latent Gaussian fields with a mean structure based on estimated fluxes from combinations of process modelling (natural fl…
Design and operation of a utility scale photovoltaic (PV) power plant depends on accurate modeling of the power generated, which is highly correlated with aggregate solar irradiance on the plant's PV modules. At present, aggregate solar irradiance over the area of a typical PV power plant cannot be measured directly. Rather, irradiance measurements are typically available from a few, relatively small sensors and thus aggregate solar irradiance must be estimated from these data. As a step towards finding more accurate methods for estimating aggregate irradiance from avaialble measurements, we e…
Many physical datasets are generated by collections of instruments that make measurements at regular time intervals. For such regular monitoring data, we extend the framework of half-spectral covariance functions to the case of nonstationarity in space and time and demonstrate that this method provides a natural and tractable way to incorporate complex behaviors into a covariance model. Further, we use this method with fully time-domain computations to obtain bona fide maximum likelihood estimators---as opposed to using Whittle-type likelihood approximations, for example---that can still be co…
In this work we consider the problem of detecting anomalous spatio-temporal behavior in videos. Our approach is to learn the normative multiframe pixel joint distribution and detect deviations from it using a likelihood based approach. Due to the extreme lack of available training samples relative to the dimension of the distribution, we use a mean and covariance approach and consider methods of learning the spatio-temporal covariance in the low-sample regime. Our approach is to estimate the covariance using parameter reduction and sparse models. The first method considered is the representati…
In geostatistics, it is common to model spatially distributed phenomena through an underlying stationary and isotropic spatial process. However, these assumptions are often untenable in practice because of the influence of local effects in the correlation structure. Therefore, it has been of prolonged interest in the literature to provide flexible and effective ways to model nonstationarity in the spatial effects. Arguably, due to the local nature of the problem, we might envision that the correlation structure would be highly dependent on local characteristics of the domain of study, namely, …
We propose an approximation to the forward-filter-backward-sampler (FFBS) algorithm for large-scale spatio-temporal smoothing. FFBS is commonly used in Bayesian statistics when working with linear Gaussian state-space models, but it requires inverting covariance matrices which have the size of the latent state vector. The computational burden associated with this operation effectively prohibits its applications in high-dimensional settings. We propose a scalable spatio-temporal FFBS approach based on the hierarchical Vecchia approximation of Gaussian processes, which has been previously succes…
We consider the application of KronPCA spatio-temporal modeling techniques [Greenewald et al 2013, Tsiligkaridis et al 2013] to the extraction of spatiotemporal features for video dismount classification. KronPCA performs a low-rank type of dimensionality reduction that is adapted to spatio-temporal data and is characterized by the T frame multiframe mean and covariance of p spatial features. For further regularization and improved inverse estimation, we also use the diagonally corrected KronPCA shrinkage methods we presented in [Greenewald et al 2013]. We apply this very general method to the…
Argo floats measure seawater temperature and salinity in the upper 2,000 m of the global ocean. Statistical analysis of the resulting spatio-temporal dataset is challenging due to its nonstationary structure and large size. We propose mapping these data using locally stationary Gaussian process regression where covariance parameter estimation and spatio-temporal prediction are carried out in a moving-window fashion. This yields computationally tractable nonstationary anomaly fields without the need to explicitly model the nonstationary covariance structure. We also investigate Student-$t$ dist…
In this work we consider the estimation of spatio-temporal covariance matrices in the low sample non-Gaussian regime. We impose covariance structure in the form of a sum of Kronecker products decomposition (Tsiligkaridis et al. 2013, Greenewald et al. 2013) with diagonal correction (Greenewald et al.), which we refer to as DC-KronPCA, in the estimation of multiframe covariance matrices. This paper extends the approaches of (Tsiligkaridis et al.) in two directions. First, we modify the diagonally corrected method of (Greenewald et al.) to include a block Toeplitz constraint imposing temporal st…
We propose a general framework for non-normal multivariate data analysis called multivariate covariance generalized linear models (McGLMs), designed to handle multivariate response variables, along with a wide range of temporal and spatial correlation structures defined in terms of a covariance link function combined with a matrix linear predictor involving known matrices. The method is motivated by three data examples that are not easily handled by existing methods. The first example concerns multivariate count data, the second involves response variables of mixed types, combined with repeate…
We address the problem of predicting spatio-temporal processes with temporal patterns that vary across spatial regions, when data is obtained as a stream. That is, when the training dataset is augmented sequentially. Specifically, we develop a localized spatio-temporal covariance model of the process that can capture spatially varying temporal periodicities in the data. We then apply a covariance-fitting methodology to learn the model parameters which yields a predictor that can be updated sequentially with each new data point. The proposed method is evaluated using both synthetic and real cli…
Hawkes process is one of the most commonly used models for investigating the self-exciting nature of earthquake occurrences. However, seismicity patterns have complicated characteristics due to heterogeneous geology and stresses, for which existing methods with Hawkes process cannot fully capture. This study introduces novel nonparametric Hawkes process models that are flexible in three distinct ways. First, we incorporate the spatial inhomogeneity of the self-excitation earthquake productivity. Second, we consider the anisotropy in aftershock occurrences. Third, we reflect the space-time inte…
This paper investigates the modeling of an important class of degradation data, which are collected from a spatial domain over time; for example, the surface quality degradation. Like many existing time-dependent stochastic degradation models, a special random field is constructed for modeling the spatio-temporal degradation process. In particular, we express the degradation at any spatial location and time as an additive superposition of two stochastic components: a dynamic spatial degradation generation process, and a spatio-temporal degradation propagation process. Some unique challenges ar…
Air pollution is a great concern because of its impact on human health and on the environment. Statistical models play an important role in improving knowledge of this complex spatio-temporal phenomenon and in supporting public agencies and policy makers. We focus on the class of hierarchical models that provides a flexible framework for incorporating spatio-temporal interactions at different hierarchical levels. The challenge is to choose a model that is satisfactory in terms of goodness of fit, interpretability, parsimoniousness, prediction capability and computational costs. In order to sup…
There are many data sources available that report related variables of interest that are also referenced over geographic regions and time; however, there are relatively few general statistical methods that one can readily use that incorporate these multivariate-spatio-temporal dependencies. As such, we introduce the multivariate-spatio-temporal mixed effects model (MSTM) to analyze areal data with multivariate-spatio-temporal dependencies. The proposed MSTM extends the notion of Moran's I basis functions to the multivariate-spatio-temporal setting. This extension leads to several methodologica…
While short-range dependence is widely assumed in the literature for its simplicity, long-range dependence is a feature that has been observed in data from finance, hydrology, geophysics and economics. In this paper, we extend a Lévy-driven spatio-temporal Ornstein-Uhlenbeck process by randomly varying its rate parameter to model both short-range and long-range dependence. This particular set-up allows for non-separable spatio-temporal correlations which are desirable for real applications, as well as flexible spatial covariances which arise from the shapes of influence regions. Theoretical pr…
We introduce a method for decomposition of trend, cycle and seasonal components in spatio-temporal models and apply it to investigate the existence of climate changes in temperature and rainfall series. The method incorporates critical features in the analysis of climatic problems - the importance of spatial heterogeneity, information from a large number of weather stations, and the presence of missing data. The spatial component is based on continuous projections of spatial covariance functions, allowing modeling the complex patterns of dependence observed in climatic data. We apply this meth…
Spatio-temporal prediction of levels of an environmental exposure is an important problem in environmental epidemiology. Our work is motivated by multiple studies on the spatio-temporal distribution of mobile source, or traffic related, particles in the greater Boston area. When multiple sources of exposure information are available, a joint model that pools information across sources maximizes data coverage over both space and time, thereby reducing the prediction error. We consider a Bayesian hierarchical framework in which a joint model consists of a set of submodels, one for each data sour…
The covariance function and the variogram play very important roles in modelling and in prediction of spatial and spatio-temporal data. The assumption of second order stationarity, in space and time, is often made in the analysis of spatial data and the spatio-temporal data. Several times the assumption of stationarity is considered to be very restrictive, and therefore, a weaker assumption that the data is Intrinsically stationary both in space and time is often made and used, mainly by the geo-statisticians and other environmental scientists. In this paper we consider the data to be intrinsi…
First-order separability of a spatio-temporal point process plays a fundamental role in the analysis of spatio-temporal point pattern data. While it is often a convenient assumption that simplifies the analysis greatly, existing non-separable structures should be accounted for in the model construction. We propose three different tests to investigate this hypothesis as a step of preliminary data analysis. The first two tests are exact or asymptotically exact for Poisson processes. The first test based on permutations and global envelopes allows us to detect at which spatial and temporal locati…
The importance of modelling temperature fields goes beyond the need to understand a region's climate and serves too as a starting point for understanding their socioeconomic, and health consequences. The topography of the study region contributes much to the complexity of modelling these fields and demands flexible spatio-temporal models that are able to handle nonstationarity and changes in trend. In this paper, we develop a flexible stochastic spatio-temporal model for daily temperatures in the Pacific Northwest, and describe a methodology for performing Bayesian spatial prediction. A novel …
A separable covariance model for a random matrix provides a parsimonious description of the covariances among the rows and among the columns of the matrix, and permits likelihood-based inference with a very small sample size. However, in many applications the assumption of exact separability is unlikely to be met, and data analysis with a separable model may overlook or misrepresent important dependence patterns in the data. In this article, we propose a compromise between separable and unstructured covariance estimation. We show how the set of covariance matrices may be uniquely parametrized …
We consider a linear regression model with a spatially correlated error term on a lattice. When estimating coefficients in the linear regression model, the generalized least squares estimator (GLSE) is used if the covariance structures are known. However, the GLSE for large spatial data sets is computationally expensive, because it involves inverting the covariance matrix of error terms from each observations. To reduce the computational complexity, we propose a pseudo best estimator (PBE) using spatial covariance structures approximated by separable covariance functions. We derive the asympto…
Gaussian random fields (GRF) are a fundamental stochastic model for spatiotemporal data analysis. An essential ingredient of GRF is the covariance function that characterizes the joint Gaussian distribution of the field. Commonly used covariance functions give rise to fully dense and unstructured covariance matrices, for which required calculations are notoriously expensive to carry out for large data. In this work, we propose a construction of covariance functions that result in matrices with a hierarchical structure. Empowered by matrix algorithms that scale linearly with the matrix dimensio…
With the advent of wide-spread global and continental-scale spatiotemporal datasets, increased attention has been given to covariance functions on spheres over time. This paper provides results for stationary covariance functions of random fields defined over $d$-dimensional spheres cross time. Specifically, we provide a bridge between the characterization in \cite{berg-porcu} for covariance functions on spheres cross time and Gneiting's lemma \citep{gneiting2002} that deals with planar surfaces. We then prove that there is a valid class of covariance functions similar in form to the Gneiting …
