Particle-kernel estimation of the filter density in state-space models

Sequential Monte Carlo (SMC) methods, also known as particle filters, are simulation-based recursive algorithms for the approximation of the a posteriori probability measures generated by state-space dynamical models. At any given time $t$, a SMC method produces a set of samples over the state space of the system of interest (often termed "particles") that is used to build a discrete and random approximation of the posterior probability distribution of the state variables, conditional on a sequence of available observations. One potential application of the methodology is the estimation of the densities associated to the sequence of a posteriori distributions. While practitioners have rather freely applied such density approximations in the past, the issue has received less attention from a theoretical perspective. In this paper, we address the problem of constructing kernel-based estimates of the posterior probability density function and its derivatives, and obtain asymptotic convergence results for the estimation errors. In particular, we find convergence rates for the approximation errors that hold uniformly on the state space and guarantee that the error vanishes almost surely as the number of particles in the filter grows. Based on this uniform convergence result, we first show how to build continuous measures that converge almost surely (with known rate) toward the posterior measure and then address a few applications. The latter include maximum a posteriori estimation of the system state using the approximate derivatives of the posterior density and the approximation of functionals of it, for example, Shannon's entropy. This manuscript is identical to the published paper, including a gap in the proof of Theorem 4.2. The Theorem itself is correct. We provide an {\em erratum} at the end of this document with a complete proof and a brief discussion.Comment: IMPORTANT: This manuscript is identical to the published paper, including a gap in the proof of Theorem 4.2. The Theorem itself is correct. We provide an erratum at the end of this document. Published at http://dx.doi.org/10.3150/13-BEJ545 the Bernoulli (http://isi.cbs.nl/bernoulli/) by the International Statistical Institute/Bernoulli Society (http://isi.cbs.nl/BS/bshome.htm

Two adaptive rejection sampling schemes for probability density functions log-convex tails

Monte Carlo methods are often necessary for the implementation of optimal Bayesian estimators. A fundamental technique that can be used to generate samples from virtually any target probability distribution is the so-called rejection sampling method, which generates candidate samples from a proposal distribution and then accepts them or not by testing the ratio of the target and proposal densities. The class of adaptive rejection sampling (ARS) algorithms is particularly interesting because they can achieve high acceptance rates. However, the standard ARS method can only be used with log-concave target densities. For this reason, many generalizations have been proposed. In this work, we investigate two different adaptive schemes that can be used to draw exactly from a large family of univariate probability density functions (pdf's), not necessarily log-concave, possibly multimodal and with tails of arbitrary concavity. These techniques are adaptive in the sense that every time a candidate sample is rejected, the acceptance rate is improved. The two proposed algorithms can work properly when the target pdf is multimodal, with first and second derivatives analytically intractable, and when the tails are log-convex in a infinite domain. Therefore, they can be applied in a number of scenarios in which the other generalizations of the standard ARS fail. Two illustrative numerical examples are shown

Nudging the particle filter

We investigate a new sampling scheme aimed at improving the performance of particle filters whenever (a) there is a significant mismatch between the assumed model dynamics and the actual system, or (b) the posterior probability tends to concentrate in relatively small regions of the state space. The proposed scheme pushes some particles towards specific regions where the likelihood is expected to be high, an operation known as nudging in the geophysics literature. We re-interpret nudging in a form applicable to any particle filtering scheme, as it does not involve any changes in the rest of the algorithm. Since the particles are modified, but the importance weights do not account for this modification, the use of nudging leads to additional bias in the resulting estimators. However, we prove analytically that nudged particle filters can still attain asymptotic convergence with the same error rates as conventional particle methods. Simple analysis also yields an alternative interpretation of the nudging operation that explains its robustness to model errors. Finally, we show numerical results that illustrate the improvements that can be attained using the proposed scheme. In particular, we present nonlinear tracking examples with synthetic data and a model inference example using real-world financial data

Adapting the Number of Particles in Sequential Monte Carlo Methods through an Online Scheme for Convergence Assessment

Particle filters are broadly used to approximate posterior distributions of hidden states in state-space models by means of sets of weighted particles. While the convergence of the filter is guaranteed when the number of particles tends to infinity, the quality of the approximation is usually unknown but strongly dependent on the number of particles. In this paper, we propose a novel method for assessing the convergence of particle filters online manner, as well as a simple scheme for the online adaptation of the number of particles based on the convergence assessment. The method is based on a sequential comparison between the actual observations and their predictive probability distributions approximated by the filter. We provide a rigorous theoretical analysis of the proposed methodology and, as an example of its practical use, we present simulations of a simple algorithm for the dynamic and online adaption of the number of particles during the operation of a particle filter on a stochastic version of the Lorenz system

Relation between growth dynamics and the spatial distribution of intrinsic defects in self-assembled colloidal crystal films

Herein we establish a clear relation between the parameters that govern the growth dynamics and the structural quality of colloidal crystal films. We report an optical analysis of the spatial distribution of intrinsic defects in colloidal crystal films and correlate our results with a theoretical model describing the growth dynamics of such lattices. We find that the amount of defects fluctuates periodically and decreases along the growth direction of the lattice. We demonstrate that these spatial variations are a direct consequence of the temporal oscillations of the crystal film formation velocity, which are inherent to the colloidal particle deposition process.Ministerio de Ciencia y Educación MAT2004-0302