BayesChange Tutorial

Here we provide a brief tutorial of the BayesChange package. The BayesChange package contains two main functions: one that performs change points detection on univariate and multivariate time series and one that perform clustering of time series and survival functions with common change points. Here we briefly show how to implement these.

Detecting change points

The function detect_cp provide a method for detecting change points on univariate and multivariate time series, it is based on the work Martínez and Mena (2014) and on the work Corradin, Danese, and Ongaro (2022).

Depending on the structure of the data, detect_cp performs change points detection on univariate time series or multivariate time series. For example we can create a vector of 100 observations where the first 50 observations are sampled from a normal distribution with mean 0 and variance 0.1 and the other 50 observations still from a normal distribution with mean 0 but variance 0.25.

data_uni <- as.numeric(c(rnorm(50,0,0.1), rnorm(50,1,0.25)))

Now we can run the function detect_cp, as arguments of the function we need to specify the number of iterations, the number of burn-in steps and a list with the the autoregressive coefficient phi for the likelihood of the data, the parameters a, b, c for the priors and the probability q of performing a split at each step.

out <- detect_cp(data = data_uni,                             
                 n_iterations = 1000, n_burnin = 100,  
                 params = list(q = 0.25, phi = 0.1, a = 1, b = 1, c = 0.1))
#> Completed:   100/1000 - in 0.011 sec
#> Completed:   200/1000 - in 0.02 sec
#> Completed:   300/1000 - in 0.029 sec
#> Completed:   400/1000 - in 0.039 sec
#> Completed:   500/1000 - in 0.048 sec
#> Completed:   600/1000 - in 0.058 sec
#> Completed:   700/1000 - in 0.067 sec
#> Completed:   800/1000 - in 0.076 sec
#> Completed:   900/1000 - in 0.086 sec
#> Completed:   1000/1000 - in 0.095 sec

With the methods print and summary we can get information about the algorithm.

print(out)
#> DetectCpObj object
#> Type: change points detection on univariate time series

summary(out)
#> DetectCpObj object
#> Detecting change points on an univariate time series:
#>  Number of burn-in iterations: 100 
#>  Number of MCMC iterations: 900 
#>  Computational time: 0.1 seconds

In order to get a point estimate of the change points we can use the method posterior_estimate that uses the method salso by David B. Dahl and Müller (2022) to get the final latent order and then detect the change points.

table(posterior_estimate(out, loss = "binder"))
#> 
#>  1  2 
#> 49 51

The package also provides a method for plotting the change points.

plot(out, loss = "binder")

In we define instead a matrix of data, detect_cp automatically performs a multivariate change points detection method.

data_multi <- matrix(NA, nrow = 3, ncol = 100)

data_multi[1,] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))
data_multi[2,] <- as.numeric(c(rnorm(50,0,0.125), rnorm(50,1,0.225)))
data_multi[3,] <- as.numeric(c(rnorm(50,0,0.175), rnorm(50,1,0.280)))

Arguments k_0, nu_0, phi_0, m_0, par_theta_c, par_theta_d and prior_var_gamma correspond to the parameters of the prior distributions for the multivariate likelihood.

out <- detect_cp(data = data_multi, n_iterations = 1000, n_burnin = 100,
                 list(q = 0.25, k_0 = 0.25, nu_0 = 4, phi_0 = diag(1,3,3), 
                      m_0 = rep(0,3), par_theta_c = 2, par_theta_d = 0.2, 
                      prior_var_gamma = 0.1))
#> Completed:   100/1000 - in 0.013 sec
#> Completed:   200/1000 - in 0.027 sec
#> Completed:   300/1000 - in 0.041 sec
#> Completed:   400/1000 - in 0.054 sec
#> Completed:   500/1000 - in 0.068 sec
#> Completed:   600/1000 - in 0.082 sec
#> Completed:   700/1000 - in 0.095 sec
#> Completed:   800/1000 - in 0.109 sec
#> Completed:   900/1000 - in 0.124 sec
#> Completed:   1000/1000 - in 0.138 sec

table(posterior_estimate(out, loss = "binder"))
#> Warning in salso::salso(mcmc_chain, loss = "binder", maxNClusters =
#> maxNClusters, : The number of clusters equals the default maximum possible
#> number of clusters.
#> 
#>  1  2 
#> 50 50

plot(out, loss = "binder")
#> Warning in salso::salso(mcmc_chain, loss = "binder", maxNClusters =
#> maxNClusters, : The number of clusters equals the default maximum possible
#> number of clusters.

Clustering time dependent data with common change points

BayesChange contains another function, clust_cp, that cluster respectively univariate and multivariate time series and survival functions with common change points. Details about this methods can be found in Corradin et al. (2024).

In clust_cp the argument kernel must be specified, if data are time series then kernel = "ts" must be set. Then the algorithm automatically detects if data are univariate or multivariate.

If time series are univariate we need to set a matrix where each row is a time series.

data_mat <- matrix(NA, nrow = 5, ncol = 100)

data_mat[1,] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))
data_mat[2,] <- as.numeric(c(rnorm(50,0,0.125), rnorm(50,1,0.225)))
data_mat[3,] <- as.numeric(c(rnorm(50,0,0.175), rnorm(50,1,0.280)))
data_mat[4,] <- as.numeric(c(rnorm(25,0,0.135), rnorm(75,1,0.225)))
data_mat[5,] <- as.numeric(c(rnorm(25,0,0.155), rnorm(75,1,0.280)))

Arguments that need to be specified in clust_cp are the number of iterations n_iterations, the number of elements in the normalisation constant B, the split-and-merge step L performed when a new partition is proposed and a list with the parameters of the algorithm, the likelihood and the priors..

out <- clust_cp(data = data_mat, n_iterations = 1000, n_burnin = 100, 
                kernel = "ts",
                params = list(B = 1000, L = 1, gamma = 0.5))
#> Normalization constant - completed:  100/1000 - in 0.007 sec
#> Normalization constant - completed:  200/1000 - in 0.015 sec
#> Normalization constant - completed:  300/1000 - in 0.024 sec
#> Normalization constant - completed:  400/1000 - in 0.031 sec
#> Normalization constant - completed:  500/1000 - in 0.039 sec
#> Normalization constant - completed:  600/1000 - in 0.047 sec
#> Normalization constant - completed:  700/1000 - in 0.054 sec
#> Normalization constant - completed:  800/1000 - in 0.062 sec
#> Normalization constant - completed:  900/1000 - in 0.07 sec
#> Normalization constant - completed:  1000/1000 - in 0.077 sec
#> 
#> ------ MAIN LOOP ------
#> 
#> Completed:   100/1000 - in 0.072 sec
#> Completed:   200/1000 - in 0.143 sec
#> Completed:   300/1000 - in 0.213 sec
#> Completed:   400/1000 - in 0.287 sec
#> Completed:   500/1000 - in 0.359 sec
#> Completed:   600/1000 - in 0.43 sec
#> Completed:   700/1000 - in 0.501 sec
#> Completed:   800/1000 - in 0.572 sec
#> Completed:   900/1000 - in 0.644 sec
#> Completed:   1000/1000 - in 0.715 sec

posterior_estimate(out, loss = "binder")
#> [1] 1 2 3 4 4

Method plot for clustering univariate time series represents the data colored according to the assigned cluster.

plot(out, loss = "binder")

If time series are multivariate, data must be an array, where each element is a multivariate time series represented by a matrix. Each row of the matrix is a component of the time series.

data_array <- array(data = NA, dim = c(3,100,5))

data_array[1,,1] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))
data_array[2,,1] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))
data_array[3,,1] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))

data_array[1,,2] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))
data_array[2,,2] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))
data_array[3,,2] <- as.numeric(c(rnorm(50,0,0.100), rnorm(50,1,0.250)))

data_array[1,,3] <- as.numeric(c(rnorm(50,0,0.175), rnorm(50,1,0.280)))
data_array[2,,3] <- as.numeric(c(rnorm(50,0,0.175), rnorm(50,1,0.280)))
data_array[3,,3] <- as.numeric(c(rnorm(50,0,0.175), rnorm(50,1,0.280)))

data_array[1,,4] <- as.numeric(c(rnorm(25,0,0.135), rnorm(75,1,0.225)))
data_array[2,,4] <- as.numeric(c(rnorm(25,0,0.135), rnorm(75,1,0.225)))
data_array[3,,4] <- as.numeric(c(rnorm(25,0,0.135), rnorm(75,1,0.225)))

data_array[1,,5] <- as.numeric(c(rnorm(25,0,0.155), rnorm(75,1,0.280)))
data_array[2,,5] <- as.numeric(c(rnorm(25,0,0.155), rnorm(75,1,0.280)))
data_array[3,,5] <- as.numeric(c(rnorm(25,0,0.155), rnorm(75,1,0.280)))

out <- clust_cp(data = data_array, n_iterations = 1000, n_burnin = 100, 
                kernel = "ts",
                list(B = 1000, L = 1, gamma = 0.1, k_0 = 0.25, nu_0 = 5, 
                     phi_0 = diag(0.1,3,3), m_0 = rep(0,3)))
#> Normalization constant - completed:  100/1000 - in 0.008 sec
#> Normalization constant - completed:  200/1000 - in 0.016 sec
#> Normalization constant - completed:  300/1000 - in 0.024 sec
#> Normalization constant - completed:  400/1000 - in 0.032 sec
#> Normalization constant - completed:  500/1000 - in 0.04 sec
#> Normalization constant - completed:  600/1000 - in 0.048 sec
#> Normalization constant - completed:  700/1000 - in 0.056 sec
#> Normalization constant - completed:  800/1000 - in 0.064 sec
#> Normalization constant - completed:  900/1000 - in 0.072 sec
#> Normalization constant - completed:  1000/1000 - in 0.08 sec
#> 
#> ------ MAIN LOOP ------
#> 
#> Completed:   100/1000 - in 0.082 sec
#> Completed:   200/1000 - in 0.167 sec
#> Completed:   300/1000 - in 0.248 sec
#> Completed:   400/1000 - in 0.33 sec
#> Completed:   500/1000 - in 0.42 sec
#> Completed:   600/1000 - in 0.552 sec
#> Completed:   700/1000 - in 0.668 sec
#> Completed:   800/1000 - in 0.762 sec
#> Completed:   900/1000 - in 0.847 sec
#> Completed:   1000/1000 - in 0.921 sec

posterior_estimate(out, loss = "binder")
#> [1] 1 2 2 3 3

plot(out, loss = "binder")

Finally, if we set kernel = "epi", clust_cp cluster survival functions with common change points. Also here details can be found in Corradin et al. (2024).

Data are a matrix where each row is the number of infected at each time. Inside this package is included the function sim_epi_data that simulates infection times.

data_mat <- matrix(NA, nrow = 5, ncol = 50)

betas <- list(c(rep(0.45, 25),rep(0.14,25)),
               c(rep(0.55, 25),rep(0.11,25)),
               c(rep(0.50, 25),rep(0.12,25)),
               c(rep(0.52, 10),rep(0.15,40)),
               c(rep(0.53, 10),rep(0.13,40)))

  inf_times <- list()

  for(i in 1:5){

    inf_times[[i]] <- sim_epi_data(S0 = 10000, I0 = 10, max_time = 50, beta_vec = betas[[i]], gamma_0 = 1/8)

    vec <- rep(0,50)
    names(vec) <- as.character(1:50)

    for(j in 1:50){
      if(as.character(j) %in% names(table(floor(inf_times[[i]])))){
      vec[j] = table(floor(inf_times[[i]]))[which(names(table(floor(inf_times[[i]]))) == j)]
      }
    }
    data_mat[i,] <- vec
  }

In clust_cp we need to specify, besides the usual parameters, the number of Monte Carlo replications M for the approximation of the integrated likelihood and the recovery rate gamma.

out <- clust_cp(data = data_mat, n_iterations = 100, n_burnin = 10, 
                kernel = "epi", 
                list(M = 100, B = 1000, L = 1, q = 0.1, gamma = 1/8))
#> Normalization constant - completed:  10/100 - in 0.062 sec
#> Normalization constant - completed:  20/100 - in 0.123 sec
#> Normalization constant - completed:  30/100 - in 0.185 sec
#> Normalization constant - completed:  40/100 - in 0.247 sec
#> Normalization constant - completed:  50/100 - in 0.308 sec
#> Normalization constant - completed:  60/100 - in 0.37 sec
#> Normalization constant - completed:  70/100 - in 0.431 sec
#> Normalization constant - completed:  80/100 - in 0.492 sec
#> Normalization constant - completed:  90/100 - in 0.553 sec
#> Normalization constant - completed:  100/100 - in 0.614 sec
#> 
#> ------ MAIN LOOP ------
#> 
#> Completed:   10/100 - in 0.459 sec
#> Completed:   20/100 - in 0.941 sec
#> Completed:   30/100 - in 1.409 sec
#> Completed:   40/100 - in 1.883 sec
#> Completed:   50/100 - in 2.356 sec
#> Completed:   60/100 - in 2.86 sec
#> Completed:   70/100 - in 3.408 sec
#> Completed:   80/100 - in 3.936 sec
#> Completed:   90/100 - in 4.518 sec
#> Completed:   100/100 - in 5.064 sec

posterior_estimate(out, loss = "binder")
#> [1] 1 1 2 1 1

plot(out, loss = "binder")

Corradin, Riccardo, Luca Danese, Wasiur R. KhudaBukhsh, and Andrea Ongaro. 2024. “Model-Based Clustering of Time-Dependent Observations with Common Structural Changes.” https://arxiv.org/abs/2410.09552.

Corradin, Riccardo, Luca Danese, and Andrea Ongaro. 2022. “Bayesian Nonparametric Change Point Detection for Multivariate Time Series with Missing Observations.” International Journal of Approximate Reasoning 143: 26–43. https://doi.org/https://doi.org/10.1016/j.ijar.2021.12.019.

David B. Dahl, Devin J. Johnson, and Peter Müller. 2022. “Search Algorithms and Loss Functions for Bayesian Clustering.” Journal of Computational and Graphical Statistics 31 (4): 1189–1201. https://doi.org/10.1080/10618600.2022.2069779.

Martínez, Asael Fabian, and Ramsés H. Mena. 2014. “On a Nonparametric Change Point Detection Model in Markovian Regimes.” Bayesian Analysis 9 (4): 823–58. https://doi.org/10.1214/14-BA878.