When analysing multiple time series that may be subject to changepoints, it is sometimes possible to specify a priori, by means of a graph, which pairs of time series are likely to be impacted by simultaneous changepoints. This article proposes an informative prior for changepoints which encodes the information contained in the graph, inducing a changepoint model for multiple time series that borrows strength across clusters of connected time series to detect weak signals for synchronous changepoints. The graphical model for changepoints is further extended to allow dependence between nearby but not necessarily synchronous changepoints across neighbouring time series in the graph. A novel reversible jump Markov chain Monte Carlo (MCMC) algorithm making use of auxiliary variables is proposed to sample from the graphical changepoint model. The merit of the proposed approach is demonstrated through a changepoint analysis of computer network authentication logs from Los Alamos National Laboratory (LANL), demonstrating an improvement at detecting weak signals for network intrusions across users linked by network connectivity, whilst limiting the number of false alerts.
High-dimensional changepoint analysis is a growing area of research and has applications in a wide range of fields. The aim is to accurately and efficiently detect changepoints in time series data when both the number of time points and dimensions grow large. Existing methods typically aggregate or project the data to a smaller number of dimensions; usually one. We present a high-dimensional changepoint detection method that takes inspiration from geometry to map a high-dimensional time series to two dimensions. We show theoretically and through simulation that if the input series is Gaussian …
We propose the Multiple Changepoint Isolation (MCI) method for detecting multiple changes in the mean and covariance of a functional process. We first introduce a pair of projections to represent the variability "between" and "within" the functional observations. We then present an augmented fused lasso procedure to split the projections into multiple regions robustly. These regions act to isolate each changepoint away from the others so that the powerful univariate CUSUM statistic can be applied region-wise to identify the changepoints. Simulations show that our method accurately detects the …
While many methods are available to detect structural changes in a time series, few procedures are available to quantify the uncertainty of these estimates post-detection. In this work, we fill this gap by proposing a new framework to test the null hypothesis that there is no change in mean around an estimated changepoint. We further show that it is possible to efficiently carry out this framework in the case of changepoints estimated by binary segmentation and its variants, $\ell_{0}$ segmentation, or the fused lasso. Our setup allows us to condition on much less information than existing app…
We propose a Bayesian hierarchical model to simultaneously estimate mean based changepoints in spatially correlated functional time series. Unlike previous methods that assume a shared changepoint at all spatial locations or ignore spatial correlation, our method treats changepoints as a spatial process. This allows our model to respect spatial heterogeneity and exploit spatial correlations to improve estimation. Our method is derived from the ubiquitous cumulative sum (CUSUM) statistic that dominates changepoint detection in functional time series. However, instead of directly searching for t…
Changepoint models typically assume the data within each segment are independent and identically distributed conditional on some parameters which change across segments. This construction may be inadequate when data are subject to local correlation patterns, often resulting in many more changepoints fitted than preferable. This article proposes a Bayesian changepoint model which relaxes the assumption of exchangeability within segments. The proposed model supposes data within a segment are $m$-dependent for some unkown $m \geqslant0$ which may vary between segments, resulting in a model suitab…
This paper describes and compares several prominent single and multiple changepoint techniques for time series data. Due to their importance in inferential matters, changepoint research on correlated data has accelerated recently. Unfortunately, small perturbations in model assumptions can drastically alter changepoint conclusions; for example, heavy positive correlation in a time series can be misattributed to a mean shift should correlation be ignored. This paper considers both single and multiple changepoint techniques. The paper begins by examining cumulative sum (CUSUM) and likelihood rat…
This article studies estimation of a stationary autocovariance structure in the presence of an unknown number of mean shifts. Here, a Yule-Walker moment estimator for the autoregressive parameters in a dependent time series contaminated by mean shift changepoints is proposed and studied. The estimator is based on first order differences of the series and is proven consistent and asymptotically normal when the number of changepoints $m$ and the series length $N$ satisfies $m/N \rightarrow 0$ as $N \rightarrow \infty$
In modern business modeling and analytics, data monitoring plays a critical role. Nowadays, sophisticated models often rely on hundreds or even thousands of input variables. Over time, structural changes such as abrupt level shifts or trend slope changes may occur among some of these variables, likely due to changes in economy or government policies. As a part of data monitoring, it is important to identify these changepoints, in terms of which variables exhibit such changes, and what time locations do the changepoints occur. Being alerted about the changepoints can help modelers decide if mod…
Climate changepoint (homogenization) methods abound today, with a myriad of techniques existing in both the climate and statistics literature. Unfortunately, the appropriate changepoint technique to use remains unclear to many. Further complicating issues, changepoint conclusions are not robust to small perturbations in assumptions; for example, allowing for a trend or correlation in the series can drastically change conclusions. This paper is a review of the changepoint topic, with an emphasis on illuminating the models and techniques that allow the scientist to make reliable conclusions. Pit…
We consider offline detection of a single changepoint in binary and count time-series. We compare exact tests based on the cumulative sum (CUSUM) and the likelihood ratio (LR) statistics, and a new proposal that combines exact two-sample conditional tests with multiplicity correction, against standard asymptotic tests based on the Brownian bridge approximation to the CUSUM statistic. We see empirically that the exact tests are much more powerful in situations where normal approximations driving asymptotic tests are not trustworthy: (i) small sample settings; (ii) sparse parametric settings; (i…
Changepoint Detection in Categorical Time Series with Application to Daily Total Cloud Cover in Canada
University of Louisiana at Lafayette（路易斯安那大学拉斐特分校）；Virginia Commonwealth University（弗吉尼亚联邦大学）；Climate Research Division, Science and Technology Branch, Environment and Climate Change Canada（加拿大环境与气候变化部科技处气候研究司）
University of Warwick（华威大学）；The Alan Turing Institute for Data Science & AI（艾伦·图灵数据科学与人工智能研究所）
Bayesian On-line Changepoint Detection is extended to on-line model selection and non-stationary spatio-temporal processes. We propose spatially structured Vector Autoregressions (VARs) for modelling the process between changepoints (CPs) and give an upper bound on the approximation error of such models. The resulting algorithm performs prediction, model selection and CP detection on-line. Its time complexity is linear and its space complexity constant, and thus it is two orders of magnitudes faster than its closest competitor. In addition, it outperforms the state of the art for multivariate …
Many real-world time series, such as in health, have changepoints where the system's structure or parameters change. Since changepoints can indicate critical events such as onset of illness, it is highly important to detect them. However, existing methods for changepoint detection (CPD) often require user-specified models and cannot recognize changes that occur gradually or at multiple time-scales. To address both, we show how CPD can be treated as a supervised learning problem, and propose a new deep neural network architecture to efficiently identify both abrupt and gradual changes at multip…
Detecting abrupt changes in the mean of a time series, so-called changepoints, is important for many applications. However, many procedures rely on the estimation of nuisance parameters (like long-run variance). Under the alternative (a change in mean), estimators might be biased and data-adaptive rules for the choice of tuning parameters might not work as expected. If the data is not stationary, but heteroscedastic, this becomes more challenging. The aim of this paper is to present and investigate two changepoint tests, which involve neither nuisance nor tuning parameters. This is achieved by…
We consider the consistency properties of a regularised estimator for the simultaneous identification of both changepoints and graphical dependency structure in multivariate time-series. Traditionally, estimation of Gaussian Graphical Models (GGM) is performed in an i.i.d setting. More recently, such models have been extended to allow for changes in the distribution, but only where changepoints are known a-priori. In this work, we study the Group-Fused Graphical Lasso (GFGL) which penalises partial-correlations with an L1 penalty while simultaneously inducing block-wise smoothness over time to…
Many time series problems feature epidemic changes - segments where a parameter deviates from a background baseline. The number and location of such changes can be estimated in a principled way by existing detection methods, providing that the background level is stable and known. However, practical data often contains nuisance changes in background level, which interfere with standard estimation techniques. Furthermore, such changes often differ from the target segments only in duration, and appear as false alarms in the detection results. To solve these issues, we propose a two-level detecto…
We propose a new method for changepoint estimation in partially-observed, high-dimensional time series that undergo a simultaneous change in mean in a sparse subset of coordinates. Our first methodological contribution is to introduce a 'MissCUSUM' transformation (a generalisation of the popular Cumulative Sum statistics), that captures the interaction between the signal strength and the level of missingness in each coordinate. In order to borrow strength across the coordinates, we propose to project these MissCUSUM statistics along a direction found as the solution to a penalised optimisation…
Bayesian online changepoint detection (BOCPD) (Adams & MacKay, 2007) offers a rigorous and viable way to identify changepoints in complex systems. In this work, we introduce a Stein variational online changepoint detection (SVOCD) method to provide a computationally tractable generalization of BOCPD beyond the exponential family of probability distributions. We integrate the recently developed Stein variational Newton (SVN) method (Detommaso et al., 2018) and BOCPD to offer a full online Bayesian treatment for a large number of situations with significant importance in practice. We apply the r…
Motivated by a condition monitoring application arising from subsea engineering we derive a novel, scalable approach to detecting anomalous mean structure in a subset of correlated multivariate time series. Given the need to analyse such series efficiently we explore a computationally efficient approximation of the maximum likelihood solution to the resulting modelling framework, and develop a new dynamic programming algorithm for solving the resulting Binary Quadratic Programme when the precision matrix of the time series at any given time-point is banded. Through a comprehensive simulation s…
Indian Institute of Technology Kanpur（印度理工学院坎普尔分校）；Indian Statistical Institute Kolkata（印度加尔各答统计研究所）
Changepoint analysis deals with unsupervised detection and/or estimation of time-points in time-series data, when the distribution generating the data changes. In this article, we consider \emph{offline} changepoint detection in the context of large scale textual data. We build a specialised temporal topic model with provisions for changepoints in the distribution of topic proportions. As full likelihood based inference in this model is computationally intractable, we develop a computationally tractable approximate inference procedure. More specifically, we use sample splitting to estimate top…
Given a time series in $R^n$ with a piecewise constant mean and independent noises, we propose an exact dynamic programming algorithm to minimize a least square criterion with a multiscale penalty promoting well-spread changepoints. Such a penalty has been proposed in Verzelen et al. (2020), and it achieves optimal rates for changepoint detection and changepoint localization. Our proposed algorithm, named Ms.FPOP, extends functional pruning ideas of Rigaill (2015) and Maidstone et al. (2017) to multiscale penalties. For large signals, $n \geq 10^5$, with relatively few real changepoints, Ms.FP…
Detecting changepoints in datasets with many variates is a data science challenge of increasing importance. Motivated by the problem of detecting changes in the incidence of terrorism from a global terrorism database, we propose a novel approach to multiple changepoint detection in multivariate time series. Our method, which we call SUBSET, is a model-based approach which uses a penalised likelihood to detect changes for a wide class of parametric settings. We provide theory that guides the choice of penalties to use for SUBSET, and that shows it has high power to detect changes regardless of …
Electrocardiogram (ECG) signal is the most commonly used non-invasive tool in the assessment of cardiovascular diseases. Segmentation of the ECG signal to locate its constitutive waves, in particular the R-peaks, is a key step in ECG processing and analysis. Over the years, several segmentation and QRS complex detection algorithms have been proposed with different features; however, their performance highly depends on applying preprocessing steps which makes them unreliable in real-time data analysis of ambulatory care settings and remote monitoring systems, where the collected data is highly …
In river flow analysis and forecasting there are some key elements to consider in order to obtain reliable results. For example, seasonality is often accounted for in statistical models because climatic oscillations occurring every year have an obvious impact on river flow. Further sources of alteration could be caused by changes in reservoir management, instrumentation or even unexpected shifts in climatic conditions. When these changes are ignored the statistical results can be strongly misleading. This paper develops an automatic procedure to estimate number and locations of changepoints in…
This paper proposes a new minimum description length procedure to detect multiple changepoints in time series data when some times are a priori thought more likely to be changepoints. This scenario arises with temperature time series homogenization pursuits, our focus here. Our Bayesian procedure constructs a natural prior distribution for the situation, and is shown to estimate the changepoint locations consistently, with an optimal convergence rate. Our methods substantially improve changepoint detection power when prior information is available. The methods are also tailored to bivariate da…
We propose a family of CUSUM-based statistics to detect the presence of changepoints in the deterministic part of the autoregressive parameter in a Random Coefficient AutoRegressive (RCA) sequence. In order to ensure the ability to detect breaks at sample endpoints, we thoroughly study weighted CUSUM statistics, analysing the asymptotics for virtually all possible weighing schemes, including the standardised CUSUM process (for which we derive a Darling-Erdos theorem) and even heavier weights (studying the so-called Rényi statistics). Our results are valid irrespective of whether the sequence i…
Oxford-Man Institute of Quantitative Finance, University of Oxford（牛津大学牛津-曼量化金融研究所）
Momentum strategies are an important part of alternative investments and are at the heart of commodity trading advisors (CTAs). These strategies have, however, been found to have difficulties adjusting to rapid changes in market conditions, such as during the 2020 market crash. In particular, immediately after momentum turning points, where a trend reverses from an uptrend (downtrend) to a downtrend (uptrend), time-series momentum (TSMOM) strategies are prone to making bad bets. To improve the response to regime change, we introduce a novel approach, where we insert an online changepoint detec…
Linear relations, containing measurement errors in input and output data, are considered. Parameters of these so-called errors-in-variables models can change at some unknown moment. The aim is to test whether such an unknown change has occurred or not. For instance, detecting a change in trend for a randomly spaced time series is a special case of the investigated framework. The designed changepoint tests are shown to be consistent and involve neither nuisance parameters nor tuning constants, which makes the testing procedures effortlessly applicable. A changepoint estimator is also introduced…
Network-valued time series are currently a common form of network data. However, the study of the aggregate behavior of network sequences generated from network-valued stochastic processes is relatively rare. Most of the existing research focuses on the simple setup where the networks are independent (or conditionally independent) across time, and all edges are updated synchronously at each time step. In this paper, we study the concentration properties of the aggregated adjacency matrix and the corresponding Laplacian matrix associated with network sequences generated from lazy network-valued…
This study aims to evaluate the performance of power in the likelihood ratio test for changepoint detection by bootstrap sampling, and proposes a hypothesis test based on bootstrapped confidence interval lengths. Assuming i.i.d normally distributed errors, and using the bootstrap method, the changepoint sampling distribution is estimated. Furthermore, this study describes a method to estimate a data set with no changepoint to form the null sampling distribution. With the null sampling distribution, and the distribution of the estimated changepoint, critical values and power calculations can be…
Near real time change detection is important for a variety of Earth monitoring applications and remains a high priority for remote sensing science. Data sparsity, subtle changes, seasonal trends, and the presence of outliers make detecting actual landscape changes challenging. Adams and MacKay (2007) introduced Bayesian Online Changepoint Detection (BOCPD), a computationally efficient, exact Bayesian method for change detection. Incorporation of prior information allows for relaxed dependence on dense data and an extensive stable period, making this method applicable to relatively short time s…
A structural time series model additively decomposes into generative, semantically-meaningful components, each of which depends on a vector of parameters. We demonstrate that considering each generative component together with its vector of parameters as a single latent structural time series node can simplify reasoning about collections of structural time series components. We then introduce a formal grammar over structural time series nodes and parameter vectors. Valid sentences in the grammar can be interpreted as generative structural time series models. An extension of the grammar can als…
A Bayesian changepoint methodology for high dimensional multivariate time series and space-time data: A study of structural change using remotely sensed data
Changepoint detection methods are used in many areas of science and engineering, e.g., in the analysis of copy number variation data, to detect abnormalities in copy numbers along the genome. Despite the broad array of available tools, methodology for quantifying our uncertainty in the strength (or presence) of given changepoints, post-detection, are lacking. Post-selection inference offers a framework to fill this gap, but the most straightforward application of these methods results in low-powered tests and leaves open several important questions about practical usability. In this work, we c…
