An efficient Bayesian approach to multiple structural change in multivariate time series

This paper provides a feasible approach to estimation and forecasting of multiple structural breaks for vector autoregressions and other multivariate models. Owing to conjugate prior assumptions we obtain a very efficient sampler for the regime allocation variable. A new hierarchical prior is introduced to allow for learning over different structural breaks. The model is extended to independent breaks in regression coefficients and the volatility parameters. Two empirical applications show the improvements the model has over benchmarks. In a macro application with seven variables we empirically demonstrate the benefits from moving from a multivariate structural break model to a set of univariate structural break models to account for heterogeneous break patterns across data series.     

Multiple Local Maxima in Restricted Likelihoods and Posterior Distributions for Mixed Linear Models

Scattered reports of multiple maxima in posterior distributions or likelihoods for mixed linear models appear throughout the literature. Less scrutinised is the restricted likelihood, which is the posterior distribution for a specific prior distribution. This paper surveys existing literature and proposes a unifying framework for understanding multiple maxima. For those problems with covariance structures that are diagonalisable in a specific sense, the restricted likelihood can be viewed as a generalised linear model with gamma errors, identity link and a prior distribution on the error variance. The generalised linear model portion of the restricted likelihood can be made to conflict with the portion of the restricted likelihood that functions like a prior distribution on the error variance, giving two local maxima in the restricted likelihood. Applying in addition an explicit conjugate prior distribution to variance parameters permits a second local maximum in the marginal posterior distribution even if the likelihood contribution has a single maximum. Moreover, reparameterisation from variance to precision can change the posterior modality; the converse also is true. Modellers should beware of these potential pitfalls when selecting prior distributions or using peak‐finding algorithms to estimate parameters.     

Forecasting correlated time series with exponential smoothing models

This paper presents the Bayesian analysis of a general multivariate exponential smoothing model that allows us to forecast time series jointly, subject to correlated random disturbances. The general multivariate model, which can be formulated as a seemingly unrelated regression model, includes the previously studied homogeneous multivariate Holt-Winters’ model as a special case when all of the univariate series share a common structure. MCMC simulation techniques are required in order to approach the non-analytically tractable posterior distribution of the model parameters. The predictive distribution is then estimated using Monte Carlo integration. A Bayesian model selection criterion is introduced into the forecasting scheme for selecting the most adequate multivariate model for describing the behaviour of the time series under study. The forecasting performance of this procedure is tested using some real examples.     

Natural conjugate priors for the instrumental variables regression model applied to the Angrist–Krueger data

We propose a natural conjugate prior for the instrumental variables regression model. The prior is a natural conjugate one since the marginal prior and posterior of the structural parameter have the same functional expressions which directly reveal the update from prior to posterior. The Jeffreys prior results from a specific setting of the prior parameters and results in a marginal posterior of the structural parameter that has an identical functional form as the sampling density of the limited information maximum likelihood estimator. We construct informative priors for the Angrist–Krueger [1991. Does compulsory school attendance affect schooling and earnings? Quarterly Journal of Economics 106, 979–1014] data and show that the marginal posterior of the return on education in the US coincides with the marginal posterior from the Southern region when we use the Jeffreys prior. This result occurs since the instruments are the strongest in the Southern region and the posterior using the Jeffreys prior, identical to maximum likelihood, focusses on the strongest available instruments. We construct informative priors for the other regions that make their posteriors of the return on education similar to that of the US and the Southern region. These priors show the amount of prior information needed to obtain comparable results for all regions.     

NUMERICAL METHODS FOR ESTIMATION AND INFERENCE IN BAYESIAN VAR-MODELS

In Bayesian analysis of vector autoregressive models, and especially in forecasting applications, the Minnesota prior of Litterman is frequently used. In many cases other prior distributions provide better forecasts and are preferable from a theoretical standpoint. Several of these priors require numerical methods in order to evaluate the posterior distribution. Different ways of implementing Monte Carlo integration are considered. It is found that Gibbs sampling performs as well as, or better, then importance sampling and that the Gibbs sampling algorithms are less adversely affected by model size. We also report on the forecasting performance of the different prior distributions. © 1997 by John Wiley & Sons, Ltd.     

Time-varying sparsity in dynamic regression models

A novel Bayesian method for inference in dynamic regression models is proposed where both the values of the regression coefficients and the importance of the variables are allowed to change over time. We focus on forecasting and so the parsimony of the model is important for good performance. A prior is developed which allows the shrinkage of the regression coefficients to suitably change over time and an efficient Markov chain Monte Carlo method for posterior inference is described. The new method is applied to two forecasting problems in econometrics: equity premium prediction and inflation forecasting. The results show that this method outperforms current competing Bayesian methods.     

Inference and prediction in a multiple-structural-break model

This paper develops a new Bayesian approach to structural break modeling. The focuses of the approach are the modeling of in-sample structural breaks and forecasting time series allowing out-of-sample breaks. The model has several desirable features. First, the number of regimes is not fixed but is treated as a random variable. Second, the model adopts a hierarchical prior for regime coefficients, which allows for the coefficients of one regime to contain information about coefficients of other regimes. Third, the regime coefficients can be integrated analytically in the posterior density; as a consequence the posterior simulator is fast and reliable. An application to US real GDP quarterly growth rates links groups of regimes to specific historical periods and provides forecasts of future growth rates.     

Learning,forecasting and structural breaks

We provide a general methodology for forecasting in the presence of structural breaks induced by unpredictable changes to model parameters. Bayesian methods of learning and model comparison are used to derive a predictive density that takes into account the possibility that a break will occur before the next observation. Estimates for the posterior distribution of the most recent break are generated as a by‐product of our procedure. We discuss the importance of using priors that accurately reflect the econometrician's opinions as to what constitutes a plausible forecast. Several applications to macroeconomic time‐series data demonstrate the usefulness of our procedure. Copyright © 2008 John Wiley & Sons, Ltd.     

Predicting economic contractions and expansions with the aid of professional forecasts

Traditional econometric models of economic contractions typically perform poorly in forecasting exercises. This criticism is also frequently levelled at professional forecast probabilities of contractions. This paper addresses the problem of incorporating the entire distribution of professional forecasts into an econometric model for forecasting contractions and expansions. A new augmented probit approach is proposed, involving the transformation of the distribution of professional forecasts into a ‘professional forecast’ prior for the economic data underlying the probit model. Since the object of interest is the relationship between the distribution of professional forecasts and the probit model’s economic-data dependent parameters, the solution avoids criticisms levelled at the accuracy of professional forecast based point estimates of contractions. An application to US real GDP data shows that the model yields significant forecast improvements relative to alternative approaches.     

Forecasting with vector autoregressive (VAR) models subject to business cycle restrictions

In the last decade VAR models have become a widely-used tool for forecasting macroeconomic time series. To improve the out-of-sample forecasting accuracy of these models, Bayesian random-walk prior restrictions are often imposed on VAR model parameters. This paper focuses on whether placing an alternative type of restriction on the parameters of unrestricted VAR models improves the out-of-sample forecasting performance of these models. The type of restriction analyzed here is based on the business cycle characteristics of U.S. macroeconomic data, and in particular, requires that the dynamic behavior of the restricted VAR model mimic the business cycle characteristics of historical data. The question posed in this paper is: would a VAR model, estimated subject to the restriction that the cyclical characteristics of simulated data from the model “match up” with the business cycle characteristics of U.S. data, generate more accurate out-of-sample forecasts than unrestricted or Bayesian VAR models?     

Damping seasonal factors: Shrinkage estimators for the X-12-ARIMA program

We examine the effect of damping X-12-ARIMA's estimated seasonal variation on the accuracy of its seasonal adjustments of time series. Two methods for damping seasonals are proposed. In a simulation experiment, we generated time series data for each of 90 distinct experimental conditions that, in aggregate, characterize the variety of monthly series in the M3-competition. X-12-ARIMA consistently overestimated the actual seasonal variation by an amount consistent with statistical theory. Damping seasonals reduced X-12-ARIMA's estimation error by as much as 79% and under no conditions was estimation error increased beyond a trivial amount. Improvement depended primarily on the degree to which random variation in a series dominated seasonal variation. When the multiplicative X-12-ARIMA model did not match the data-generating model, overestimation was less for trend series than for series with no trend; otherwise the presence of trend had no discernible effect. One of the proposed methods was somewhat more accurate and robust, but more complex, than the other. In an analysis of real data—the 1428 monthly series of the M3-competition-damping X-12-ARIMA seasonals prior to forecasting (1) reduced the average forecasting MAPE by 4.9–1.4% and (2) improved forecasting accuracy for 59–65% of the series, depending on the forecasting horizon. This research suggests that damping X-12-ARIMA seasonals leads to more accurate seasonal adjustments of time series, thus providing a more reliable basis for policy-making, forecasting, and the evaluation of forecasting methods by researchers.     

Forecasting with High‐Dimensional Panel VARs

This paper develops methods for estimating and forecasting in Bayesian panel vector autoregressions of large dimensions with time‐varying parameters and stochastic volatility. We exploit a hierarchical prior that takes into account possible pooling restrictions involving both VAR coefficients and the error covariance matrix, and propose a Bayesian dynamic learning procedure that controls for various sources of model uncertainty. We tackle computational concerns by means of a simulation‐free algorithm that relies on analytical approximations to the posterior. We use our methods to forecast inflation rates in the eurozone and show that these forecasts are superior to alternative methods for large vector autoregressions.     

Bayesian parameter and reliability estimation for a bivariate exponential distribution parallel sampling

The present investigation is concerned with deriving Bayesian statistical inferences for the bivariate exponential (BVE) distribution of Marshall and Olkin (1967) applied as a failure model for a two-component parallel system. In this paper joint posterior distributions for the BVE parameters and marginal posterior densities for individual parameters are developed. The posterior distributions are derived for the case of informative prior knowledge. Bayesian estimators for the BVE parameters and the corresponding reliability are derived in a closed form. Bayesian approximated credibility intervals (‘confidence’ intervals) for parameters are derived by utilizing a gamma approximation to the marginal posterior densities.     

The asymmetry of judgemental confidence intervals in time series forecasting

In forecasting a time series, one may be asked to communicate the likely distribution of the future actual value, often expressed as a confidence interval. Whilst the accuracy (calibration) of these intervals has dominated most studies to date, this paper is concerned with other possible characteristics of the intervals. It reports a study in which the prevalence and determinants of the symmetry of judgemental confidence intervals in time series forecasting was examined. Most prior work has assumed that this interval is symmetrically placed around the forecast. However, this study shows that people generally estimate asymmetric confidence intervals where the forecast is not the midpoint of the estimated interval. Many of these intervals are grossly asymmetric. Results indicate that the placement of the forecast in relation to the last actual value of a time series is a major determinant of the direction and size of the asymmetry.     

On a noncentral chi-square distribution in the analysis of weapon systems effectiveness

Summary A natural conjugate prior distribution for the parameters involved in the noncentral chi-square leads to many known distributions. The applications of the distributions thus obtained are briefly pointed out in evaluating the ‘kill’ probability in the analysis of weapon systems effectiveness. The ‘kill’ probabilities or the expected coverage are obtained associated with a gamma prior distribution and compared with those obtained byMcnolty. This paper is read in a symposium on Mathematical Sciences held under the auspices of Delhi University, Delhi im January 1966.     

FFORMPP: Feature-based forecast model performance prediction

This paper introduces a novel meta-learning algorithm for time series forecast model performance prediction. We model the forecast error as a function of time series features calculated from historical time series with an efficient Bayesian multivariate surface regression approach. The minimum predicted forecast error is then used to identify an individual model or a combination of models to produce the final forecasts. It is well known that the performance of most meta-learning models depends on the representativeness of the reference dataset used for training. In such circumstances, we augment the reference dataset with a feature-based time series simulation approach, namely GRATIS, to generate a rich and representative time series collection. The proposed framework is tested using the M4 competition data and is compared against commonly used forecasting approaches. Our approach provides comparable performance to other model selection and combination approaches but at a lower computational cost and a higher degree of interpretability, which is important for supporting decisions. We also provide useful insights regarding which forecasting models are expected to work better for particular types of time series, the intrinsic mechanisms of the meta-learners, and how the forecasting performance is affected by various factors.     

A new approximation of the posterior distribution of the log–odds ratio

In this paper, the posterior density of the log–odds ratio is studied. It is assumed that the observations have a multinomial distribution and that the prior on the multinomial parameters is a Dirichlet density. Several approximations currently available are reviewed. Under certain conditions on the prior parameters of the Dirichlet density, it is shown that the posterior moments can be computed exactly. A new approximation, similar to the Edgeworth expansion is also proposed. Using a numerical example, the different methods of approximation of posterior density are compared.     

Benchmark priors for Bayesian model averaging

In contrast to a posterior analysis given a particular sampling model, posterior model probabilities in the context of model uncertainty are typically rather sensitive to the specification of the prior. In particular, ‘diffuse’ priors on model-specific parameters can lead to quite unexpected consequences. Here we focus on the practically relevant situation where we need to entertain a (large) number of sampling models and we have (or wish to use) little or no subjective prior information. We aim at providing an ‘automatic’ or ‘benchmark’ prior structure that can be used in such cases. We focus on the normal linear regression model with uncertainty in the choice of regressors. We propose a partly non-informative prior structure related to a natural conjugate g-prior specification, where the amount of subjective information requested from the user is limited to the choice of a single scalar hyperparameter g_0j. The consequences of different choices for g_0j are examined. We investigate theoretical properties, such as consistency of the implied Bayesian procedure. Links with classical information criteria are provided. More importantly, we examine the finite sample implications of several choices of g_0j in a simulation study. The use of the MC³ algorithm of Madigan and York (Int. Stat. Rev. 63 (1995) 215), combined with efficient coding in Fortran, makes it feasible to conduct large simulations. In addition to posterior criteria, we shall also compare the predictive performance of different priors. A classic example concerning the economics of crime will also be provided and contrasted with results in the literature. The main findings of the paper will lead us to propose a ‘benchmark’ prior specification in a linear regression context with model uncertainty.     

Seasonal exponential smoothing with damped trends : An application for production planning

This paper reviews a spreadsheet-based forecasting approach which a process industry manufacturer developed and implemented to link annual corporate forecasts with its manufacturing/distribution operations. First, we consider how this forecasting system supports overall production planning and why it must be compatible with corporate forecasts. We then review the results of substantial testing of variations on the Winters three-parameter exponential smoothing model on 28 actual product family time series. In particular, we evaluate whether the use of damping parameters improves forecast accuracy. The paper concludes that a Winters four-parameter model (i.e. the standard Winters three-parameter model augmented by a fourth parameter to damp the trend) provides the most accurate forecasts of the models evaluated. Our application confirms the fact that there are situations where the use of damped trend parameters in short-run exponential smoothing based forecasting models is beneficial.     

An extreme value analysis of the last century crises across industries in the U.S. economy

The two large scale crises that hit the world economy in the last century, i.e. the Great Depression and the Great Recession, have similar outbreak and recovery patterns with respect to several macroeconomic variables. In particular, the largest depressions are likely to be accompanied by stock-market crashes. This study investigates the behavior of the U.S. stock market before, during and after deep downturns, focusing particularly on the tails of the return distribution. We develop two automatic procedures to identify multiple change-points in the tail of financial time series as well as in the co-crash and co-boom probabilities of different markets. We then apply our methodology to twelve time series representative of the sectors of the U.S. economy. We find that regime shifts in the lower tail of the distribution tend to co-occur before deep downturns. Our results contribute to a better understanding of the origin and systemic nature of large scale events to make policy interventions more timely and effective.