Han 2009
Han 2009
a r t i c l e i n f o a b s t r a c t
Article history: This paper introduces a new method, E-Bayesian estimation method, to estimate failure rate.
Received 14 January 2007 The method is suitable for the censored or truncated data with small sample sizes and high
Received in revised form 22 March 2008 reliability. The definition and properties of E-Bayesian estimation are given. A real data set
Accepted 31 March 2008
is discussed, which shows that the method is both efficiency and easy to operate.
Available online 10 April 2008
Ó 2008 Elsevier Inc. All rights reserved.
Keywords:
Failure rate
Exponential distribution
E-Bayesian estimation
Hierarchical Bayesian estimation
Reliability
1. Introduction
In the area related to the reliability of industrial products, for the life testing of products with high reliability, engi-
neers often deal with truncated data sets, which some times have small sample size or are censored. All of these cer-
tainly cause difficulties on estimation of parameters related to the life of products using classical statistical techniques.
In the literature, Lindley and Smith [1] first introduced the idea of hierarchical prior distribution. Han [2] developed
methods to construct hierarchical prior distribution. Recently, some results have been made on hierarchical Bayesian
method to deal with life data. But all of these methods involved in integration. Though some computing methods for
integration such as MCMC (Markov chain Monte Carlo) are available [3], integration is still very hard to be implemented
in practice.
Consider type I censored life testing. Let the triplet ðni ; r i ; ti Þ be the testing data set at the ith testing time ði ¼ 1; 2; . . . ; mÞ,
where ni ; ri and t i are the numbers of products at time i, the number of failures and the number of being censored,
respectively.
This paper introduces a new method, named E-Bayesian estimation, to estimate failure rate. The definition of E-Bayesian
estimation of the failure rate is described in Section 2. In Sections 3 and 4, the formulas of E-Bayesian estimation and hier-
archical Bayesian estimation of the failure rate are given respectively. In Section 5, the properties of E-Bayesian estimation
are discussed. Section 6 gives a real example, and Section 7 is a conclusion.
q
This work was supported partly by the Fujian Province Natural Science Foundation of China, and partly by the Fujian University of Technology.
* Tel.: +86 0591 87723376.
E-mail address: [email protected]
S0307-904X/$ - see front matter Ó 2008 Elsevier Inc. All rights reserved.
doi:10.1016/j.apm.2008.03.019
1916 M. Han / Applied Mathematical Modelling 33 (2009) 1915–1922
Suppose the life of a product has an exponential distribution with probability density function
f ðtÞ ¼ k expftkg; t > 0; ð1Þ
where k > 0 is the failure rate of the exponential distribution.
If we take the conjugate prior of k, namely Cða; bÞ, then density function
a
pðk j a; bÞ ¼ b ka1 expðbkÞ=CðaÞ;
R1
where the Gamma function CðaÞ ¼ 0 xa1 ex dx, hyperparameters a > 0 and b > 0.
According to Han [2], a and b should be selected to guarantee that pðk j a; bÞ is a decreasing function of k. The derivative of
pðk j a; bÞ with respect to k is
d½pðk j a; bÞ a
¼ ½b ka2 expðbkÞ=CðaÞ½ða 1Þ bk:
dk
Note that a > 0, b > 0, and k > 0, it follows 0 < a < 1, b > 0 due to d½pðkja;bÞ
dk
< 0, and therefore pðk j a; bÞ is a decreasing func-
tion of k. Given 0 < a < 1, the larger b is, the thinner the tail of the Gamma density function will be. Considering the robust-
ness of Bayesian estimate [4], the thinner tailed prior distribution often reduces the robustness of Bayesian estimate.
Accordingly, b should not be larger then a given upper bound c, where c > 0 is a constant to be determined. Thereby, the
hyperparameters a and b should be selected with the restriction of 0 < a < 1 and 0 < b < c. When a ¼ 1, pðk j a; bÞ is a
decreasing function of k. Accordingly, b should not be too big while a ¼ 1. It is better to choose b below a given upper bound
c (c is a positive constant). Thereby, the range of hyperparameter b may be considered as 0 < b < c. How to determine the
constant c would be described later in an example. If a ¼ 1, then the density function of k will become
pðk j bÞ ¼ b expðbkÞ; k > 0: ð2Þ
Definition 1. With ^
kðbÞ being continuous,
Z
^
kEB ¼ ^
kðbÞpðbÞdb
D
is called the expected Bayesian estimation of k (briefly E-Bayesian estimation), which is assumed finite, where D is the do-
main of b, ^kðbÞ is Bayesian estimation of k with hyperparameter b, and pðbÞ is the density function of b over D.
Definition 1 indicates that the E-Bayesian estimation of k is the expectation of Bayesian estimation of k for the hyperparameter b.
3. E-Bayesian estimation
E-Bayesian estimation based on three different prior distributions of the hyperparameter is used in this section to inves-
tigate the influence of different prior distributions on the E-Bayesian estimation of k.
Theorem 1. For the testing data set fðni ; ri ; ti Þ; i ¼ 1; . . . ; mg with type I censor, where r i ¼ 0; 1; 2; . . . ; ni . Let
P Pm
M¼ m i¼1 ðni r i Þt i ; r ¼ i¼1 r i . If the prior density function pðk j bÞ of k is given by (2), then, we have the following two conclusions:
Proof
(i) For the above testing data set fðni ; ri ; t i Þ; i ¼ 1; . . . ; mg, if the number of corresponding failure samples are X i in the
testing process, according to Lawless [5], X i obeys a Poisson distribution with parameter ðni ri Þti k, then the likelihood
function of k is
( )
Ym Ym
½ðni r i Þt i ri r
Lðr j kÞ ¼ PfX i ¼ r i g ¼ k expfMkg;
i¼1 i¼1
ðri Þ!
P Pm
where M ¼ m i¼1 ðni r i Þt i ; r ¼ i¼1 r i .
If the prior density function pðk j bÞ of k is given by (2), then the Bayesian theorem leads to the posterior density func-
tion of k,
pðk j bÞLðr j kÞ
hðk j rÞ ¼ R 1
0
pðk j bÞLðr j kÞdk
kr expfðM þ bÞkg
¼ R1
0
kr expfðM þ bÞkgdk
ðM þ bÞrþ1 r
¼ k expfðM þ bÞkg; k > 0:
Cðr þ 1Þ
With quadratic loss function, the Bayesian estimation of k is
Z 1
^
kðbÞ ¼ khðk j rÞdk
0
Z
ðM þ bÞrþ1 1
¼ kðrþ2Þ1 expfðM þ bÞkgdk
Cðr þ 1Þ 0
If the prior density function pðk j bÞ of k is given by (2), how can the value of hyperparameter b be determined? Lindley
and Smith [1] addressed an idea of hierarchical prior distribution, which suggested that one prior distribution may be
adapted to the hyperparameters while the prior distribution includes hyperparameters.
If the prior density function pðk j bÞ of k is given by (2), and the prior density function of hyperparameter b are given by
(3)–(5), then the corresponding hierarchical prior density functions of k are, respectively
1918 M. Han / Applied Mathematical Modelling 33 (2009) 1915–1922
Z c Z c
2
p4 ðkÞ ¼ pðk j bÞp1 ðbÞdb ¼
2
bðc bÞ expðbkÞdb; k > 0; ð6Þ
0 c 0
Z c Z c
1
p5 ðkÞ ¼ pðk j bÞp2 ðbÞdb ¼ b expðbkÞdb; k > 0; ð7Þ
0 c 0
Z c Z c
2 2
p6 ðkÞ ¼ pðk j bÞp3 ðbÞdb ¼ 2 b expðbkÞdb; k > 0: ð8Þ
0 c 0
Theorem 2. For the testing data set fðni ; ri ; ti Þ; i ¼ 1; . . . ; mg with type I censor, where r i ¼ 0; 1; 2; . . . ; ni . Let
P Pm
M¼ m i¼1 ðni r i Þt i ; r ¼ i¼1 r i . If the hierarchical prior density function of k are given by (6)–(8), then, using the quadratic
loss function, the corresponding hierarchical Bayesian estimation of k are, respectively
Rc bðcbÞ
0 ðMþbÞrþ2
db
^
kHB1 ¼ ðr þ 1Þ R c ;
bðcbÞ
0 ðMþbÞrþ1
db
Rc b
0 ðMþbÞrþ2
db
^
kHB2 ¼ ðr þ 1Þ R c ;
b
0 ðMþbÞrþ1
db
Rc b2
0 ðMþbÞrþ2
db
^
kHB3 ¼ ðr þ 1Þ R c :
b2
0 ðMþbÞrþ1
db
Proof. According to the course of the proof of Theorem 1, the likelihood function of k is
( )
Y
m Ym
½ðni r i Þt i ri r
Lðr j kÞ ¼ PfX i ¼ r i g ¼ k expfMkg;
i¼1 i¼1
ðr i Þ!
P Pm
where M ¼ m i¼1 ðni r i Þt i ; r ¼ i¼1 r i .
If the hierarchical prior density function of k is given by (6), then, by means of the Bayesian theorem, the hierarchical
posterior density function of k will be
p4 ðk j bÞLðr j kÞ
hðk j rÞ ¼ R 1
0
p4 ðk j bÞLðr j kÞdk
Rc
0
bðc bÞkr exp½ðM þ bÞkdb
¼ R c bðcbÞCðrþ1Þ ; k > 0:
0 ðMþbÞrþ1
db
Using the quadratic loss function, the corresponding hierarchical Bayesian estimation of k will be
Z 1
^
kHB1 ¼ khðk j rÞdk
0
Rc R1
0
bðc bÞf 0 kðrþ2Þ1 exp½ðM þ bÞkdkgdb
¼ R c bðcbÞCðrþ1Þ
0 ðMþbÞrþ1
db
Rc bðcbÞCðrþ2Þ
0 ðMþbÞrþ2
db
¼ Rc bðcbÞCðrþ1Þ
0 ðMþbÞrþ1
db
Rc bðcbÞ
0 ðMþbÞrþ2
db
¼ ðr þ 1Þ R c bðcbÞ
:
0 ðMþbÞrþ1
db
Similarly, if the hierarchical prior density functions of k are given by (7) and (8), then, the corresponding hierarchical Bayes-
ian estimation of k will be, respectively,
Rc b
0 ðMþbÞrþ2
db
^
kHB2 ¼ ðr þ 1Þ R c ;
b
0 ðMþbÞrþ1
db
Rc b2
0 ðMþbÞrþ2
db
^
kHB3 ¼ ðr þ 1Þ R c :
b2
0 ðMþbÞrþ1
db
M. Han / Applied Mathematical Modelling 33 (2009) 1915–1922 1919
kEB1 , ^
5.1. Relations among ^ kEB2 and ^
kEB3
kEB3 < ^
(i) ^ kEB2 < ^
kEB1 ;
(ii) limM!1 ^kEB1 ¼ limM!1 ^
kEB2 ¼ limM!1 ^
kEB3 .
Proof
lim ^
kEBi ¼ lim ^
kHBi ði ¼ 1; 2; 3Þ:
M!1 M!1
1
Since b, ðMþbÞrþ2 is continuous on [0, c], by the generalized mean value theorem for integration (when 0 < b < c; bðc bÞ > 0),
According to Theorem 1,
^ 2ðr þ 1Þ Mþc
kEB1 ¼ ðM þ cÞ ln c : ð15Þ
c2 M
For 1 < x < 1, we have
x2 x3 x4 X1
xi
lnð1 þ xÞ ¼ x þ þ ¼ ð1Þi1 :
2 3 4 i¼1
i
lim ^
kEB1 ¼ lim ^
kHB1 :
M!1 M!1
Similarly, we have
lim ^
kEBi ¼ lim ^
kHBi ði ¼ 2; 3Þ:
M!1 M!1
6. A real example
Consider the testing data from a type of electronic products presented in Table 1 (time unit: hour), the life of such type of
electronic products has an exponential distribution.
By Theorems 1 and 2, we can obtain the values of ^ kEBi ði ¼ 1; 2; 3Þ and ^kHBi ði ¼ 1; 2; 3Þ. Some numerical results are listed in
Table 2.
From Table 2, we find that for the same c (100, 500, 1000, 2000, 3000, 4000), ^ kEBi ði ¼ 1; 2; 3Þ are very close to each other,
and satisfy Theorem 3. For different c (100, 500, 1000, 2000, 3000, 4000), ^ kEBi ði ¼ 1; 2; 3Þ and ^ kHBi ði ¼ 1; 2; 3Þ are all robust,
and satisfy Theorem 4.
From Table 2, we can obtain R b EBi ðtÞ ¼ expf^
kEBi tg ði ¼ 1; 2; 3Þ and R b HBi ðtÞ ¼ expf^ kHBi tg ði ¼ 1; 2; 3Þ. Some of the results
are listed in Table 3.
From Table 3, we find that for the same c (100, 500, 1000, 2000, 3000, 4000) R b EBi ðtÞ ði ¼ 1; 2; 3Þ are very close to each other.
For different c (100, 500, 1000, 2000, 3000, 4000) R b EBi ðtÞ ði ¼ 1; 2; 3Þ and Rb HBi ðtÞ ði ¼ 1; 2; 3Þ are all robust.
Table 1
Testing data of the electronic products
i 1 2 3 4 5 6 7
ti 480 680 880 1080 1280 1480 1680
ni 3 3 5 5 8 8 8
ri 0 0 0 1 0 2 1
Table 2
Results of ^
kEBi ði ¼ 1; 2; 3Þ and ^
kHBi ði ¼ 1; 2; 3Þ
Table 3
b EBi ð500Þ ði ¼ 1; 2; 3Þ and R
Results of R b HBi ð500Þ ði ¼ 1; 2; 3Þ
In application, the author suggest select a value of c in the middle point of interval (0, 4000], i.e., c ¼ 2000.
7. Conclusion
This paper introduces a new method, E-Bayesian estimation method, to estimate failure rate. The author would like to put
forward the following two questions for any new parameter estimation method: (i) How much close is the dependence be-
tween a new method and an already-made ones? (ii) In which aspects is a new method superior to an old ones?
For the E-Bayesian estimation method, Theorems 3 and 4 have given a good answer to the above question (i). To the above
question (ii), from Theorems 1 and 2, we find that the expression of the E-Bayesian estimation is simple, whereas the expres-
sions of the hierarchical Bayesian estimation relies on integral expression, which is often not easy.
Reviewing the example in Section 6, for different prior densities p1 ðbÞ (decreasing function), p2 ðbÞ (constant) and p3 ðbÞ
(increasing function) of the hyperparameter b, the corresponding ^ kEBi ði ¼ 1; 2; 3Þ and ^
kHBi ði ¼ 1; 2; 3Þ are all robust and con-
sistent with Theorem 4, ^ kEBi ði ¼ 1; 2; 3Þ are consistent with Theorem 3. Thus, the author suggests take uniform distribution
as the prior of the hyperparameter b (that is, in application, taking p2 ðbÞ as the prior density of the hyperparameter b). The
above example showed that the E-Bayesian estimation method is both efficient and easy to perform.
Acknowledgement
The author wish to thank Professors Xizhi Wu and Jiabao Wang, who checked the paper and gave author very helpful sug-
gestions. The author also wants to thank the referees for their helpful comments.
References
[1] D.V. Lindley, A.F.M. Smith, Bayes estimaters for the linear model, Journal of the Royal Statistical Society – Series B 34 (1972) 1–41.
[2] M. Han, The structure of hierarchical prior distribution and its applications, Chinese Operations Research and Management Science 6 (3) (1997) 31–40.
[3] S.P. Brooks, Markov chain Monte Carlo method and its application, The Statistician 47 (1) (1998) 69–100.
[4] J.O. Berger, Statistical Decision Theory and Bayesian Analysis, second ed., Springer-Verlag, New York, 1985.
[5] J.F. Lawless, Statistical Models and Method for Lifetime Data, Wiley, New York, 1982.