modelling extreme environmentsjonathan/jonathan_2011_oxford.pdfmodelling x2 gives different...
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Modelling extreme environments
Philip JonathanShell Technology Centre Thornton, Chester, UK
[email protected]/∼jonathan
SUTGEF meeting, OxfordSeptember 2011
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Outline
• Motivation.• Modelling challenges.• Basics.• Covariate effects in extremes.• Multivariate extremes.• Current developments.• Conclusions.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Motivation
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Katrina in the Gulf of Mexico.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Katrina damage.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Cormorant Alpha in a North Sea storm.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
”L9” platform in the Southern North Sea.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
A wave seen from a ship.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Black Sea coast.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Motivation
• Rational design an assessment of marine structures:
• Reducing bias and uncertainty in estimation of structuralreliability.
• Improved understanding and communication of risk.• Climate change.
• Other applied fields for extremes in industry:
• Corrosion and fouling.• Finance.• Networks.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Sanity check
• All models are wrong, some models are useful.• George Box,
http : //en.wikipedia.org/wiki/George E . P. Box
• How can we make models as useful as possible?
• Consistency between physical, engineering and statisticalinsights.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Modelling challenges
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Covariate effects:• Location, direction, season, ...• Multiple covariates in practice.
• Cluster dependence:• e.g. storms independent, observed (many times) at many
locations.• e.g. dependent occurrences in time.
• Scale effects:• Modelling x2 gives different estimates c.f. modelling x .
• Threshold estimation.• Parameter estimation.• Measurement issues:
• Field measurement uncertainty greatest for extreme values.• Hindcast data are simulations based on pragmatic physics,
calibrated to historical observation.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Multivariate extremes:• Waves, winds, currents, forces, moments, displacements, ...• Componentwise maxima⇔ max-stability⇔ regular
variation:• Assumes all components extreme.• ⇒ Perfect independence or asymptotic dependence only.
• Extremal dependence:• Assumes regular variation of joint survivor function.• Gives rise to more general forms of extremal dependence.• ⇒ Asymptotic dependence, asymptotic independence.
• Conditional extremes:• Assumes, given one variable being extreme, convergence of
distribution of remaining variables.• Not equivalent to extremal dependence.• Allows some variables not to be extreme.
• Inference:• ... a huge gap in the theory and practice of multivariate
extremes ... (Beirlant et al. 2004)
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Basics
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Degenerate cdf of block maximum
• F (X ) = Pr(X ≤ x), cumulative distribution function (cdf)
• Mn = maxi{Xi}, block maximum
• Pr(Mn ≤ x) = [Pr(X ≤ x)]n, cdf of maximum
• As n ↑ ∞, Pr(Mn ≤ x) becomes degenerate (= 0everywhere except at the maximum value of X , xF )
• What do we do to make Pr(Mn ≤ x) useful?
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Generalised extreme value distribution
• Try shifting and scaling the random variable to make its tailmore stable (this is like the central limit theorem)
• Yn = a−1n (maxi{Xi} − bn)
• Pr(Yn 6 y) = [Pr(X ≤ bn + any)]n
• As n ↑ ∞, Pr(Yn 6 y) is almost always well behaved (wehave max-stable distribution)
Pr(Yn 6 y) → exp{(1 + ξy − µσ
)− 1
ξ
+ } as n→∞ for ξ 6= 0
( → exp{exp(−y − µσ
)} when ξ = 0)
• Generalised extreme value distribution (GEV)
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Domain of attraction
• All max-stable distributions converge to the GEV for somevalue of shape parameter, ξ• Any max-stable distribution is within the domain of
attraction (DOA) of GEV for some ξ
• The Weibull distribution converges to GEV with:• ξ = 0• F̄ = kxαexp−cxτ• an = 1
cτ (c−1 log n)(1/τ)−1
• bn = (c−1 log n)1/τ to leading order
• Note: this theory is analogous to central limit theorem.There is nothing mysterious here.• If you are happy that the mean of random variables with
arbitrary distributions converges to a Gaussian⇒ youshould be equally happy with GEV for block maxima!
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
GEV⇒ GP• Yn is max-stable, the maximum of n events (i.e. a block
maximum), each with distribution function F
• So, if n is large enough, F n(y) ≈ exp(−(1 + ξ y−µ
σ
)− 1ξ )
• n log F (y) ≈ −(1 + ξ y−µ
σ
)− 1ξ (log both sides)
• Pr(Yn > y) = 1− F (y) ≈ 1n
(1 + ξ y−µ
σ
)− 1ξ (Taylor
expansion, log x = −(1− x))
• Pr(Yn > y |Yn > u) = 1−F (y)1−F (u) ≈
(1 + ξ y−u
σ̃
)− 1ξ (simple
re-arrangement, where σ̃ = σ + ξ(u − µ))• This is the generalised Pareto (GP) distribution.
• Threshold exceedences from max-stable distributions areGP distributed.
• Block maxima from max-stable distributions are GEVdistributed
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Poisson + GP⇒ GEV• If occurrence rate of exceedences are Poisson, we can
write:
Pr(max in period 6 z) =∞∑
k=0
(k storms in period)F k (z)
=∞∑
k=0
λk
k !exp(−λ)F k (z)
= exp(−λ(1− F (z)))
• But threshold exceedences are GP-distributed, so:
Pr(max in period 6 z) = exp(−λ(
1 + ξz − uσ̃
)− 1ξ
)
• λ is expected number of exceedences, σ̃ = σ + ξ(u − µ).
• Set λ to be(1 + ξ u−µ
σ
)− 1ξ (w.l.o.g)⇒ GEV
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Take-aways
• We should model tails of distributions with GEV and GPdistributions• Threshold exceedences from max-stable distributions are
GP distributed.• Block maxima from max-stable distributions are GEV
distributed• Motivation for GEV and GP is asymptotic theory• We can only justify fitting GEV and GP when we are clearly
in the tail
• Weibull is a restricted choice of distribution for modellingcorresponding to ξ = 0.• Physics (e.g. Miche) tells us that Weibull cannot be correct• Weibull might be easier to fit to data (since it is more
restricted), but this doesn’t necessarily make it better
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Effect of ξ
• Pr(X > x |X > u) = (1 + ξ x−uσ )−
1ξ
• If ξ < 0, there is a finite upper end-point xF which cannotbe exceeded
• If ξ ≥ 0, the upper end-point xF =∞
• For ocean waves, observation and physics suggests thatxF is finite. e.g Miche:• 1
2 kLHMAX = 0.14π tanh(kLd)• In deep water, Taylor expansion yields kLHMAX = 0.8 limit• In shallow water, Taylor expansion yields HMAX
d = 0.8 limit
• Weibull distribution has the upper end-point xF =∞,inconsistent with physics
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Effect of ξ < 0
• As ξ ↑ 0, then xF ↑ ∞
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Changing threshold• Consider changing threshold from u to v , v > u
• Then Pr(X > x |X > u) = (1 + ξ x−uσ )−
1ξ
Pr(X > x |X > v) =Pr(X > x)
Pr(X > v)
=Pr(X > x |X > u)
Pr(X > v |X > u)
=(1 + ξ x−u
σ )−1ξ
(1 + ξ v−uσ )−
1ξ
= (1 + ξx − v
σ + ξ(v − u))−
1ξ
• ξ is unchanged, σ varies linearly with gradient ξ a.a.f.o.threshold
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Return values
• GP or GEV model with parameters ξ, σ, u• p-year return value xp is defined by:
1− 1p
= exp{−λ(
1 + ξxp − uσ
)− 1ξ
}
• λ is the expected number of exceedences per annum.
• Quantile q of the p-year maximum xp(q) is defined by:
q = exp(−pλ(
1 + ξxp(q)− u
σ
)− 1ξ
)
• pλ is the expected number of exceedences in p years.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Covariates: outline
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Sample {xi , θi}ni=1 of variate x and covariate θ.• Non-homogeneous Poisson process model for threshold
exceedences• Davison and Smith [1990], Davison [2003],
Chavez-Demoulin and Davison [2005]
• Rate of occurrence of threshold exceedence and size ofthreshold exceedence are functionally independent.
• Other equivalent interpretations.
• Time, season, space, direction, GCM parameters ...
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Generalised Pareto density (and negative conditionallog-likelihood) for sizes of threshold excesses:
f (xi ; ξi , σi ,u) =1σi
(1 +ξi
σi(x − ui))−
1ξ−1 for each i
lE (ξ, σ) = −n∑
i=1
log(f (xi ; ξi , σi ,ui))
• Parameters: shape ξ, scale σ are functions of covariate θ.• Threshold u set prior to estimation.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• (Negative) Poisson process log-likelihood (andapproximation) for rate of occurrence of thresholdexcesses:
lN(µ) =
∫ n
i=1µdt −
n∑i=1
logµi
l̂N(µ) = δ
m∑j=1
µ(jδ)−m∑
j=1
cj logµ(jδ)
• {cj}mj=1 counts the number of threshold exceedences ineach of m bins partitioning the covariate domain intointervals of length δ
• Parameter: rate µ, a function of covariate θ.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Overall:
l(ξ, σ, µ) = lE (ξ, σ) + lN(µ)
with all of ξ, σ and µ smooth with respect to t .
• We can estimate µ independently of ξ and σ.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• We can impose smoothness on parameters in variousways.
• In a frequentist setting, we can use penalised likelihood:
`(θ) = l(θ) + λR(θ)
• R(θ) is parameter roughness (usually quadratic form inparameter vector) w.r.t. covariate θ.
• λ is roughness tuning parameter
• In a Bayesian setting, we can impose a random field priorstructure (and corresponding posterior) on parameters:
f (θ|α) = exp{−αn∑
i=1
∑θj near θi
(θi − θj)2}
log f (ξ, σ|x , α) = l(ξ, σ, µ|x)
−n∑
i=1
∑θj near θi
{αξ(ξi − ξj)2 + ασ(σi − σj)
2}
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Covariates: applications
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Fourier directional model for GP shape and scale at NorthernNorth Sea location, with 95% bootstrap confidence band.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Spatial model for 100-year storm peak significant wave heightin the Gulf of Mexico (not to scale), estimated using athin-plate spline with directional pre-whitening.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Multivariate: outline
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Component-wise maxima
• Beirlant et al. [2004] is a nice introduction.
• No obvious way to order multivariate observations.• Theory based on component-wise maximum, M.
• For sample {xij}ni=1 in p dimensions:
• Mj = maxni=1{xij} for each j .
• M will probably not be a sample point!
• P(M 6 x) =∏p
j=1 P(Xj 6 xj) = F n(x)
• We assume: F n(anx + bn)D→ G(x)
• Therefore also: F nj (an,jxj + bn,j )
D→ Gj (xj )
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Homogeneity
• Limiting distribution with Frechet marginals, GF
• GF (z) = G(G←1 (e−1
z1 ),G←2 (e−1
z2 ), ...,G←p (e−1
zp ))
• VF (z) = − log GF (z) is the exponent measure function• VF (sz) = s−1VF (z)
Homogeneity order -1 of exponent measure impliesasymptotic dependence (or perfect independence)!
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Composite likelihood for spatial dependence• Composite likelihood lC(θ) assuming Frechet marginals:
lC(θ) = −n∑
i=1
n∑j=1
log f (zi , zj ; θ)
f (zi , zj) = (∂V (zi , zj)
∂zi
∂V (zi , zj)
∂zj−∂2V (zi , zj)
∂zi∂zj)e−V (zi ,zj )
• Exponent measure has simple bivariate parametric form,e.g. :
V (zi , zj) = (1zi
+1zj
)(1− α(h)
2(1− (1− 2
(ρ(h) + 1)zizj
z2i + z2
j)2))
with two pre-specified functions α and ρ of distance hwhose parameters must be estimated.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Component-wise maxima has some pros:• Most widely-studied branch of multivariate extremes.• Composite likelihood offers some promise, but is itself an
approximation.• And many cons:
• Hotch-potch of methods.• Does not accommodate asymptotic independence.• Threshold selection!• Covariates!
• Parametric forms.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Extremal dependence
• Bivariate random variable (X ,Y ):• asymptotically independent if
limx→∞ Pr(X > x |Y > x) = 0.• asymptotically dependent if limx→∞ Pr(X > x |Y > x) > 0.
• Extremal dependence models:• Admit asymptotic independence.
• But have issues with:• Threshold selection.• Covariates!
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Bingham et al. [1987]
• (XF ,YF ) with Frechet marginals (Pr(XF < f ) = e−1f ).
• Assume Pr(XF > f ,YF > f ) is regularly varying atinfinity:
limf→∞Pr(XF > sf ,YF > sf )
Pr(XF > f ,YF > f )= s−
1η for some fixed s > 0
• This suggests:
Pr(XF > sf ,YF > sf ) ≈ s−1η Pr(XF > f ,YF > f )
Pr(XG > g + t ,YG > g + t) = Pr(XF > eg+t ,YF > eg+t )
≈ e−tη Pr(XF > eg ,YF > eg)
= e−tη Pr(XG > g,YG > g)
on Gumbel scale XG: Pr(XG < g) = exp(−e−g).
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• Ledford and Tawn [1996] motivated by Bingham et al.[1987]
• Assume model Pr(XF > f ,YF > f ) = `(f )f−1η
• `(f ) is a slowly-varying function, limf→∞`(sf )`(f ) = 1
• Then:
Pr(XF > f |YF > f ) =Pr(XF > f ,YF > f )
Pr(YF > f )
= `(f )f−1η (1− e−
1f )
∼ `(f )f 1− 1η
∼ `(f )Pr(YF > f )1− 1η
• At η < 1 (or limf→∞`(f ) = 0), XF and YF are As.Ind.!• η easily estimated from a sample by noting that LF , the
minimum of XF and YF is approximately GP-distributed:
Pr(LF > f + s|LF > f ) ∼ (1 +sf
)−1η for large f
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Conditional extremes
• Heffernan and Tawn [2004]
• Sample {xi1, xi2}ni=1 of variate X1 and X2.• (X1,X2) need to be transformed to (Y1,Y2) on the same
standard Gumbel scale.• Model the conditional distribution of Y2 given a large
value of Y1.• Asymptotic argument relies on X1 (and Y1) being large.
• Applies to almost all known forms of multivariate extremevalue distribution, but not all.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
• (X1,X2)PIT⇒ (Y1,Y2).
• (Y2|Y1 = y1) = ay1 + yb1 Z for large values y1 and +ve
dependence.• Estimate a, b and Normal approximation to Z using
regression.
• (Y1,Y2)PIT⇒ (X1,X2).
• Simulation to sample joint distribution of (Y1,Y2) (and(X1,X2)).
• Pros:• Extends naturally to high dimensions• c.f. copulas
• Cons:• Threshold selection for (large number of) models.• Covariates!• Consistency of Y2|Y1 and Y1|Y2 not guaranteed.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Multivariate: applications
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Environmental design contours derived from a conditionalextremes model for storm peak significant wave height, HS, andcorresponding peak spectral period, TP .
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Current profiles with depth (a 32-variate conditional extremesanalysis) for a North-western Australia location.
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Fourier directional model for conditional extremes at aNorthern North Sea location.
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Current developments
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Extreme quantiles from Bayesian model incorporating scaleuncertainty via a Box-Cox transformation, point-wise for NorthSea.
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
Box-Cox scale λ, point-wise for North Sea.
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Generalised Pareto shape, point-wise for North Sea.
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A Weibull-GP model for the distribution of waves in shallowwater.
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• p-spline approaches to spatio-temporal andspatio-directional extreme value models.• Easy specification of multi-covariate roughness.
• Composite likelihood approaches to (asymptoticallydependent) joint extremes.
• Laplace approximation as alternative to MCMC.• Statistical down-scaling to estimate climate change
effects on structural safety.• Mixture modelling for elimination of threshold selection
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Thanks
[email protected]/∼jonathan
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Outline Motivation Challenges Basics Covariates Applications Multivariate Applications Current References
ReferencesJ. Beirlant, Y. Goegebeur, J. Segers, and J. Teugels. Statistics of Extremes:
theory and applications. Wiley, 2004.
N. H. Bingham, C. M. Goldie, and J. L. Teugels. Regular variation.Cambridge University Press, 1987.
V. Chavez-Demoulin and A.C. Davison. Generalized additive modelling ofsample extremes. J. Roy. Statist. Soc. Series C: Applied Statistics, 54:207,2005.
A. C. Davison. Statistical models. Cambridge University Press, 2003.
A.C. Davison and R. L. Smith. Models for exceedances over high thresholds.J. R. Statist. Soc. B, 52:393, 1990.
J. E. Heffernan and J. A. Tawn. A conditional approach for multivariateextreme values. J. R. Statist. Soc. B, 66:497, 2004.
A. W. Ledford and J. A. Tawn. Statistics for near independence in multivariateextreme values. Biometrika, 83:169–187, 1996.