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Robust Statistics - 2nd Edition

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鲁棒统计,现代统计方法, Robust Statistics第二版,学习现代统计方法R○ BUST STAT|STCSSecond editionPeter j, huberProfessor of Statistics, retiredKlosters SwitzerlandEⅣ ezio m. RonchettiProfessor of StatisticsUniversity of Geneva, SwitzerlandWILEYA JOHn WileY SONS INC. PUBliCAtIONCopyrightc 2009 by John Wiley Sons, Inc. All rights reservedPublished by John Wiley sons, Inc, Hoboken, New JerseyPublished simultaneously in CanadaNo part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form orby any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except aspermitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the priorwritten permission of the Publisher, or authorization through payment of the appropriate per-copy fee tothe Copyright Clearance Center, Inc, 222 Rosewood Drive, Danvers, MA 01923, (978)750-8400, fax978)750-4470,oronthewebatwww.copyrigom. requests to the publisher for permission shouldbe addressed to the permissions department John Wiley sons, Inc., 11 1 River Street, Hoboken, NJ07030,(201)748-6011,fax(201)748-6008,oronlineathttp:/www.wileycom/go/permissionLimit of Liability /Disclaimer of Warranty: While the publisher and author have used their best efforts inpreparing this book, they make no representations or warranties with respect to the accuracy orcompleteness of the contents of this book and specifically disclaim any implied warranties ofmerchantability or fitness for a particular purpose. No warranty may be created or extended by salesrepresentatives or written sales materials. The advice and strategies contained herein may not be suitablefor your situation. You should consult with a professional where appropriate. Neither the publisher norauthor shall be liable for any loss of profit or any other commercial damages, including but not limitedto special, incidental, consequential, or other damagesFor general information on our other products and services or for technical support, please contact ourCustomer Care Department within the United States at(800)762-2974, outside the United States at(317)572-3993 or fax(317)572-4002.Wiley also publishes its books in a variety of electronic formats. Some content that appears in print maynot be available in electronic format. For information about wiley products, visit our web site atwww.wileycomLibrary of Congress Cataloging-in-Publication Data:Huber Peter JRobust statistics, second edition/ Peter J. Huber, Elvezio ronchettip. cnIncludes bibliographical references and indeISBN978-0-470-12990-6( cloth)1. Robust statistics. I. Ronchetti. elvezio. II. TitleQA276.H7852009519.5-dc222008033283Printed in the United States of america10987654321To the memory o1John w. tukeyThis Page Intentionally Left BlankCONTENTSPrefacePreface to first editionGeneralities1 Why robust Procedures1. 2 What Should a robust procedure achieve?1.2.1 Robust. Nonparametric and Distribution-Free1.2.2 Adaptive procedures1.2.3 Resistant Procedures1.2. 4 Robustness versus Diagnostics1.2.5 Breakdown point1.3 Qualitative Robustness567888911. 4 Quantitative Robustness1.5 Infinitesimal Aspects141.6 Optimal Robustness171.7 Performance Comparisons18CONTENTS1.8 Computation of robust estimates181.9 Limitations to Robustness Theory202 The Weak Topology and its Metrization23eneral remarks232.2 The Weak Topology232.3 Levy and prohorov metrics272.4 The bounded Lipschitz metric322.5 Frechet and Gateaux derivatives366 Hampels Theorem413 The Basic Types of Estimates453. 1 General Remarks453.2 Maximum Likelihood Type Estimates(M-Estimates)3.2.1 Influence Function of m-estimates73.2.2 Asymptotic Properties of M-Estimates483.2.3 Quantitative and Qualitative Robustness of MEstimates3.3 Linear Combinations of Order Statistics(L-Estimates)3.3.1 Influence Function of -Estimates3.3.2 Quantitative and Qualitative robustness of l-Estimates 593. 4 Estimates Derived from Rank Tests(R-estimates3.4.1 Influence Function of R-Estimates623.4.2 Quantitative and Qualitative robustness of R-Estimates 643.5 Asymptotically Efficient M-, L,and R-Estimates674 Asymptotic Minimax Theory for Estimating Location4.1 General remarks4.2 Minimax bias4.3 Minimax Variance: Preliminaries744. 4 Distributions minimizing fisher Information764.5 Determination of Fo by Variational Methods814.6 Asymptotically Minimax M-Estimates914.7 On the minimax Property for L-and R-estimates954.8 Redescending m-estimates74.9 Questions of Asymmetric Contamination101CONTENTSScale Estimates1055.1 General remarks1055.2 M-Estimates of scale1075.3 L-Estimates of scale5.4 R-Estimates of Scale1125.5 Asymptotically efficient Scale estimates1145.6 Distributions Minimizing fisher Information for Scale5.7 Minimax Properties116 Multiparameter Problemsin Particular Joint Estimationof Location and scale1256. 1 General remarks1256.2 Consistency of M-Estimates1266.3 Asymptotic Normality of M-Estimates1306. 4 Simultaneous m-Estimates of Location and scale1336.5 M-Estimates with Preliminary Estimates of Scale1376.6 Quantitative robustness of Joint Estimates of Location and Scale 1396.7 The Computation of M-Estimates of Scale14368Studentizing1457 Regression1497. 1 General remarks1497. 2 The Classical Linear Least Squares Case1547. 2.1 Residuals and Outliers1587.3 Robustizing the Least Squares Approach1607.4 Asymptotics of robust regression Estimates163741 The Cases hp2→0 and hp→07.5 Conjectures and Empirical Results1687.5.1 Symmetric Error Distributions1687.5.2 The Question of Bias1687.6 Asymptotic Covariances and Their estimation1707. 7 Concomitant Scale estimates1727.8 Computation of Regression M-Estimates1757.8.1 The Scale Step1767.8.2 The Location Step with Modified residuals1787.8.3 The Location Step with Modified Weights179CONTENTS7.9 The Fixed Carrier Case: What Size hi?1867. 10 Analysis of Variance1907. 11 LI-estimates and Median polish1937. 12 Other Approaches to Robust Regression1958 Robust Covariance and Correlation Matrices1998. 1 General remarks8.2 Estimation of Matrix Elements Through robust Variances2038.3 Estimation of Matrix Elements Through robust Correlation2048.4 An Affinely equivariant approach2108.5 Estimates Determined by Implicit Equations2128.6 Existence and Uniqueness of Solutions2148.6. 1 The Scatter estimate v2148.6.2 The Location estimate t2198.6.3 Joint Estimation of t and y2208.7 Influence Functions and Qualitative robustness2208.8 Consistency and asymptotic normality2238.9 Breakdown Point48.10 Least informative distributions2258.1058. 10.2 Covariance2278.11 Some Notes on Computation2339 Robustness of Design2399.1 General remarks2399.2 Minimax Global Fit9.3 Minimax Slope24610 Exact Finite Sample Results24910.1 General Remarks24910.2 Lower and Upper Probabilities and Capacities25010.2.1 2-Monotone and 2-Alternating Capacities25510.2.2 Monotone and Alternating Capacities of Infinite Order 25810.3 Robust Tests25910.3. 1 Particular Cases26510.4 Sequential Tests267

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STM32F40x pin and ball definitions(continued)Pin numberPin nameo(function afterAlternate functionsAdditional functionsreset) 5二USART2_CTS/UART4_TX/PAO-WKUPETH MII CRS/142334N3401/0 FT(5)TIM2 CH1 ETRADC123 INONKUP(4,(PAO)TIM5 CH1/ TIM8 EtR/EVENTOUTUSART2 RTS/UART4 RX152435N241PA1/O FT(4) ETH_RMI_REF_CLK/ETH MIL RX CLKADC123 N1TIM5 CH2/ TIMM2 CH2EVENTOUTUSART2 TX/TIM5 CH3/162536P242PA21O FT(4)TIM9 CH1/TIM2 CH3ADC123 N2ETH MDIO/ EVENTOUTF443PH2LOFTETH_MIL_CRS/EVENTOUTG444PH3/OFTETH MII COLEVENT○UT12C2 SCLH4|45PH41/O FTOTG HS ULPI NXTEVENTOUTPH5/OFT12C2 SDA/ EVENTOUTUSART2 RX/TIM5 CH4/172637R247PA3/O/FT/(4) TIM9_CH2/TIM2_CH4/OTG HS ULPI DOADC123 N3ETH MII COL/EVENTOUT18273848VBYPASS REG192839K449DDSPI1 NSS/ SPI3 NSS/USART2 CK/202940N450PA41/0 TTa(4)DCMI HSYNC/ADC12 IN4/DAC1 OUTOTG HS SOF/12S3 WSEVENTOUTSPI1 SCK/213041P451PA51O TTa(4OTG HS ULPI CKIADC12 IN5/DAC2 OUTTIM2 CH1 ETR/TIM8 CHIN/ EVENTOUTSPI1 MISO/223142P352PA6IO FT(4) TIM8 BKIN/TIM13_CH1/DCMI PIXCLK/TIM3 CH1ADC12 N6/TIM1 BKIN EVENTOUT46/167DoC ID 022152 Rev 2STM32F405XX. 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STM32F40x pin and ball definitions(continued)Pin numberPin nameo(function afterAlternate functionsAdditional functionsreset) 5二SPI1 MOSI/TIM8 CH1N/TIM14 CH1/TIM3 CH2233243R353PA71O FT(4)ETH MI RX DV/TIM1 CHIN/ADC12 N7RMIL CRS DVIEVENTOUTETH RMI RX DO243344N554PC41/O FT (4) ETH_MIL_RX_DOADC12 N14EVENTOUTETH RMII RX D1/253445P555PC51O FT(1)ETHM‖RxD1/ADC12 IN15EVENTOUTTIM3 CH3/ TIM8 CH2N/26|3546R5561/0 FT(4) OTG_HS_ULPI_D1/ETH MIL RXD2ADC12 IN8TIM1 CH2N/ EVENTOUTTIM3 CH4/TIM8 CH3N/OTG HS ULPI D227|3647R45PB11O FT(ETH MI RXD3ADC12 N9OTG HS INTN/TIM1 CHSN/ EVENTOUTPB2-BOOT1283748M658/OFTEVENTOUT(PB2)--49R659PF11 VO FT□DcM|12′ EVENTOUT50P6|60PF12LOFTFSMC A6/ EVENTOUT51M86152N862DD53 N663 PF13 VOFTFSMC-A7/EVENTOUT54R764PF 14LOFTFSMC AB/ EVENTOUT55P765PF151O FTFSMC A9/EVENTOUT56N766PGOFSMC A10/ EVENTOUT57M767PG11O FTFSMC A11/ EVENTOUT3858R868PE7LOFTFSMC D4/TIM1 ETR/EVENTOUT3959P869PEgFSMC D5/ TIM1 CH1N/1O FTEVENTOUT4060P970PEg10 FTFSMC D6/TIM1 CH1/EVENTOUT61M971SSDoC ID 022152 Rev 247/167Pinouts and pin descriptionSTM32F405XX. STM32F407XXTable 6. STM32F40x pin and ball definitions(continued)Pin numberPin name三(function afterAlternate functionsAdditional functionsreset) 5当|二62N972VDD4163R973PE10/OFTFSMC D7/TIM1 CH2N/EVENTOUTFSMC DB/TIM1 CH2/4264P10|74PE11EVENTOUTPE12FSMC D9/TIM1 CH3N,4365R1075VO FTEVENTOUT4466N1176PE131OFFSMC D1O/TIM1 CH3/EVENTOUTFSMC D11/TIM1 CH44567P1177PE14YO FTEVENTOUT4668R1178PE15/OFTFSMC D12/TIM1 BKINEVENTOUTSPI2 SCK/ 12S2 CK/12C2 SCL USART3 TX/294769R1279PB10/O FTOTG HS ULPI D3/ETH MIL RX ER/TIM2 CH3/ EVENTOUT12C2 SDA/USART3 RX/OTG HS ULPI D4/304870R1380PB111OETH RMI TX EN/ETH MIL TX EN了T|M2cH4/ EVENT○UT314971M1081CAP 1325072N1082VDD12C2 SMBA/TIM12 CH1/M1183PH6LOFTETH MII RXD2/EVENTOUT2C3 SCLN12|84PH7/OFTETHM|RⅩD3/EVENTOUT12C3 SDAPH8ODCMI HSYNC/EVENTOUT11386PH91OFT12C3 SMBA/TIM12 CH2DCMI DO/ EVENTOUTL1387PH101O FTTIM5 CH1/DCMI D1EVENTOUTL12|88lOFTTIM5 CH2/DCMI D2PH1 1EVENTOUT48/167DoC ID 022152 Rev 2STM32F405XX. STM32F407XXPinouts and pin descriptionTable 6. STM32F40x pin and ball definitions(continued)Pin numberPin nameo(function afterAlternate functionsAdditional functionsreset) 5二-|K12|89TIM5 CH3/ DCMI D3/PH12/OFTEVENTOUT-|H1290VssJ12|91VDDSPI2 NSS/2S2 WS/12C2 SMBA/USART3 CK/TIM1 BKIN/335173P1292PB12CAN2 RX1O FTOTG HS ULPI D5ETH RMII TXDOETH MII TXDO/OTG HS ID/ EVENTOUTSP12 SCK/12S2 CK/JSART3 CTS/TIM1 CH1N/CAN2 TX/34|5274P1393B13OTG HS ULPI D6/OTG HS VBUSETH RMII TXD1/ETH MIL TXD1/EVENTOUTSPI2 MISO/ TIM1 CH2N/TIM12 CH1/355375R1494PB14/OFTOTG HS DM/USART3 RTS/TIM8 CH2N/12S2ext SD/EVENTOUTSP12_ MOSI/12S2 SD/365476R1595PB15VO FTTIM1 CH3N/TIM8 CH3N/TIM12 CH2/OTG HS DP/ EVENTOUTPD8LOFTFSMC D13/ USART3 TX/5577P159EVENTOUT5678P1497PDg/OFTFSMC D14/USART3 RXEVENTOUT5779N1598PD101O FTFSMC D15/USART3 CKEVENTOUTFSMC CLE5880N1499PD11lOFTFSMC_A16/USART3-_CTS/EVENTOUTFSMC ALE/5981N13100PD12/OFTFSMC A17/TIM4 CH1USART3 RTS/EVENTOUTDoC ID 022152 Rev 249/167Pinouts and pin descriptionSTM32F405XX. STM32F407XXTable 6. STM32F40x pin and ball definitions(continued)Pin numberPin nar三(function afterAlternate functionsAdditional functionseey)点二6082M15101FSMC A18/TIM4 CH2/PD13VO FTEVENTOUT102V84J13103VDD6185M14104PD14/OFTFSMC DO/TIM4 CH3/EVENTOUT/ EVENT○UT6286L14105PD15/OFTFSMC D1/TIM4 CH4/EVENTOUT87L15 106 PG2VO FT FSMC_A12/EVENTOUT88K15107PG3/OFTFSMC A13/ EVENTOUT89K14108PG4/OFTFSMC A14/EVENTOUT9oK13|109PG5FSMC A15/ EVENT○UT91J15110PG6FSMC NT2/ EVENTOUT92J14111PG7/OFTFSMC INT3儿SART6CKEVENTOUTUSART6 RTS/93H14112PG8LOFTETH PPS OUTEVENTOUT94G12|113SS95H13114VDD12S2 MCK/TIM8 CHU/SDIO D6/376396H15115PC6/OFTUSART6 TXDCMI DO/TIM3 CH1/EVENTOUT1253 MCK/TIM8 CH2/SDIO D7/386497G15116PC7lOFTUSART6 RX/DCMI DI/TIM3 CH2/EVENTOUTTIM8 CH3/SDIO DOPC8TIM3 CH3/USART6 CK/DCMI D2/ EVENTOUT12S CKIN/MCO2/406699F14118PC9TIM8 CH4/SDIO D1//O FT/12C3 SDA/DCMI D3TIM3 CH4/ EVENTOUT50167DoC ID 022152 Rev 2STM32F405XX. STM32F407XXPinouts and pin descriptionTable 6. STM32F40x pin and ball definitions(continued)Pin numberPin nameo(function afterAlternate functionsAdditional functionsreset) 5二MCO1/USART 1 CK/4167100F15119PA81/0 FTTIM1 CH1/12C3 SCL/OTG FS SOF/EVENTOUTUSART1 TX/ TIM1 CH2/4268101E15120PA9VO FT2C3_SMBA/DCMIDO/OTG_FS_VBUSEVENTOUTUSART1 RX/ TIM1 CH34369102D15121PA101O FTOTG FS ID/DCMI D1EVENTOUTUSART1 CTS/CAN1 RX4470103c15122PA11/OFTTIM1 CH4/OTG FS DM/ EVENTOUTUSART1 RTS/ CAN1 TX4571104B15123PA121O FTTIM1 ETR/ OTG FS DP/EVENTOUTPA146 72 105 124 (TMS-SWDIO)/OFTJTMS-SWDIO/ EVENTOUT4773106F13|125CAP74107F12126sss4875108G13127VDDE12|128PH13/O FTTIM8 CH1N/CAN1 TX/EVENTOUT-E13129PH14LOFTTIM8 CH2N/DCM D4/EVENTOUTD13130PH15VO FTTIM8 CH3N/DCMI D11/EVENTOUTTIM5 CH4/SP12 NSSE14131PIO1O FT1252 WS/DCMI D13EVENTOUTD14132PlOFTSPI2 SCK/12S2 CK/DCMI D8/ EVEntoUtTIM8 CH4/SP12 MISOc14133Pl21O FTDCMI D9/12S2ext SDEVENTOUTTIM8 ETR/SPI2 MOSI/C13134PI3/O FT12S2 SD/DCMI D10/EVENTOUT--D9|135VSSc9136VDDDoC ID 022152 Rev 251/167Pinouts and pin descriptionSTM32F405XX. STM32F407XXTable 6. STM32F40x pin and ball definitions(continued)Pin numberPin nameo(function afterAlternate functionsAdditional functionsreset) 5二PA144976109A14137/O FTJTCK-SWCLK/EVENTOUT(JTCK-SWCLK)PA15JTDI SPI3 NSS/5077110A131381OFT12S3_WS/TIM2_CH1_ETR(JTDISPI1 NSS/EVENTOUTSPI3 SCK /12S3 CK/UART4 TXSDIO D2/5178111B14139PC101O FTDCMI D8/ USART3 TX/EVENTOUTUARTA RX/ SPI3 MISO/5279112B13140PC1110FTSDIO D3/DCMI D4/ 3 RX/12S3ext SD/ EVENTOUTUART5 TX/SDIO CK/5380113A12141PC12/OFTDCMI D9/SP 3 MOSI/2S3 SD/USART3 CK/EVENTOUT-81114B12142PDO/OFTFSMC D2/CAN1 RX/EVENTOUT82115c12143PD1 I/OFTFSMC D3/ CAN1 TX/EVENTOUTTIM3 ETRUART5 RX5483116D12144PD2/OFTSDIO CMD/DCMI D11/EVENTOUT84117D11145FSMC CLK/USART2 CTSPD3L EVENTOUT/OFTFSMC NOE/USART2 RTS85118D10146PD4L EVENTOUT86119c11147PD5/OFTFSMC NWE/USART2 TX/EVENTOUT120|D8148121c8149DD87122B11150PD6lOFTFSMC NWAITUSART2 RX/ EVENTOUTUSART2 CK/FSMC NE188123A11151PD710FTFSMC NCE2/ EVENTOUTUSART6 RX/124c10152PG9/OFTFSMC NE2/FSMC NCE3EVENTOUT521167DoC ID 022152 Rev 2STM32F405XX. 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