Large-sample study of the kernel density estimators under multiplicative censoring

The multiplicative censoring model introduced in Vardi [Biometrika 76 (1989) 751--761] is an incomplete data problem whereby two independent samples from the lifetime distribution $G$, $\mathcal{X}_m=(X_1,...,X_m)$ and $\mathcal{Z}_n=(Z_1,...,Z_n)$, are observed subject to a form of coarsening. Specifically, sample $\mathcal{X}_m$ is fully observed while $\mathcal{Y}_n=(Y_1,...,Y_n)$ is observed instead of $\mathcal{Z}_n$, where $Y_i=U_iZ_i$ and $(U_1,...,U_n)$ is an independent sample from the standard uniform distribution. Vardi [Biometrika 76 (1989) 751--761] showed that this model unifies several important statistical problems, such as the deconvolution of an exponential random variable, estimation under a decreasing density constraint and an estimation problem in renewal processes. In this paper, we establish the large-sample properties of kernel density estimators under the multiplicative censoring model. We first construct a strong approximation for the process $\sqrt{k}(\hat{G}-G)$, where $\hat{G}$ is a solution of the nonparametric score equation based on $(\mathcal{X}_m,\mathcal{Y}_n)$, and $k=m+n$ is the total sample size. Using this strong approximation and a result on the global modulus of continuity, we establish conditions for the strong uniform consistency of kernel density estimators. We also make use of this strong approximation to study the weak convergence and integrated squared error properties of these estimators. We conclude by extending our results to the setting of length-biased sampling.Comment: Published in at http://dx.doi.org/10.1214/11-AOS954 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Proprioceptive Robot Collision Detection through Gaussian Process Regression

This paper proposes a proprioceptive collision detection algorithm based on Gaussian Regression. Compared to sensor-based collision detection and other proprioceptive algorithms, the proposed approach has minimal sensing requirements, since only the currents and the joint configurations are needed. The algorithm extends the standard Gaussian Process models adopted in learning the robot inverse dynamics, using a more rich set of input locations and an ad-hoc kernel structure to model the complex and non-linear behaviors due to frictions in quasi-static configurations. Tests performed on a Universal Robots UR10 show the effectiveness of the proposed algorithm to detect when a collision has occurred.Comment: Published at ACC 201

Optimal Rate of Direct Estimators in Systems of Ordinary Differential Equations Linear in Functions of the Parameters

Many processes in biology, chemistry, physics, medicine, and engineering are modeled by a system of differential equations. Such a system is usually characterized via unknown parameters and estimating their 'true' value is thus required. In this paper we focus on the quite common systems for which the derivatives of the states may be written as sums of products of a function of the states and a function of the parameters. For such a system linear in functions of the unknown parameters we present a necessary and sufficient condition for identifiability of the parameters. We develop an estimation approach that bypasses the heavy computational burden of numerical integration and avoids the estimation of system states derivatives, drawbacks from which many classic estimation methods suffer. We also suggest an experimental design for which smoothing can be circumvented. The optimal rate of the proposed estimators, i.e., their $\sqrt n$-consistency, is proved and simulation results illustrate their excellent finite sample performance and compare it to other estimation approaches