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Springer Texts in Statistics
Advisors:
George Casella Stephen Fienberg Ingram Olkin
F.M. Dekking C. Kraaikamp
H.P. Lopuhaä L.E. Meester
A Modern Introduction to
Probability and Statistics
Understanding Why and How
With 120 Figures
Frederik Michel Dekking
Cornelis Kraaikamp
Hendrik Paul Lopuhaä
Ludolf Erwin Meester
Delft Institute of Applied Mathematics
Delft University of Technology
Mekelweg 4
2628 CD Delft
The Netherlands
Whilst we have made considerable efforts to contact all holders
of copyright material contained in this
book, we may have failed to locate some of them. Should
holders wish to contact the Publisher, we
will be happy to come to some arrangement with them.
British Library Cataloguing in Publication Data
A modern introduction to probability and statistics. —
(Springer texts in statistics)
1. Probabilities 2. Mathematical statistics
I. Dekking, F. M.
519.2
ISBN 1852338962
Library of Congress Cataloging-in-Publication Data
A modern introduction to probability and statistics :
understanding why and how / F.M. Dekking ... [et
al.].
p. cm. — (Springer texts in statistics)
Includes bibliographical references and index.
ISBN 1-85233-896-2
1. Probabilities—Textbooks. 2. Mathematical statistics—
Textbooks. I. Dekking, F.M. II.
Series.
QA273.M645 2005
519.2—dc22 2004057700
Apart from any fair dealing for the purposes of research or
private study, or criticism or review, as
permitted under the Copyright, Designs and Patents Act 1988,
this publication may only be reproduced,
stored or transmitted, in any form or by any means, with the
prior permission in writing of the publish-
ers, or in the case of reprographic reproduction in accordance
with the terms of licences issued by the
Copyright Licensing Agency. Enquiries concerning reproduction
outside those terms should be sent to
the publishers.
ISBN-10: 1-85233-896-2
ISBN-13: 978-1-85233-896-1
Springer Science+Business Media
springeronline.com
© Springer-Verlag London Limited 2005
The use of registered names, trademarks, etc. in this publication
does not imply, even in the absence
of a specific statement, that such names are exempt from the
relevant laws and regulations and therefore
free for general use.
The publisher makes no representation, express or implied, with
regard to the accuracy of the informa-
tion contained in this book and cannot accept any legal
responsibility or liability for any errors or
omissions that may be made.
Printed in the United States of America
12/3830/543210 Printed on acid-free paper SPIN 10943403
Preface
Probability and statistics are fascinating subjects on the
interface between
mathematics and applied sciences that help us understand and
solve practical
problems. We believe that you, by learning how stochastic
methods come
about and why they work, will be able to understand the
meaning of statistical
statements as well as judge the quality of their content, when
facing such
problems on your own. Our philosophy is one of how and why:
instead of just
presenting stochastic methods as cookbook recipes, we prefer to
explain the
principles behind them.
In this book you will find the basics of probability theory and
statistics. In
addition, there are several topics that go somewhat beyond the
basics but
that ought to be present in an introductory course: simulation,
the Poisson
process, the law of large numbers, and the central limit theorem.
Computers
have brought many changes in statistics. In particular, the
bootstrap has
earned its place. It provides the possibility to derive confidence
intervals and
perform tests of hypotheses where traditional (normal
approximation or large
sample) methods are inappropriate. It is a modern useful tool
one should learn
about, we believe.
Examples and datasets in this book are mostly from real-life
situations, at
least that is what we looked for in illustrations of the material.
Anybody who
has inspected datasets with the purpose of using them as
elementary examples
knows that this is hard: on the one hand, you do not want to
boldly state
assumptions that are clearly not satisfied; on the other hand,
long explanations
concerning side issues distract from the main points. We hope
that we found
a good middle way.
A first course in calculus is needed as a prerequisite for this
book. In addition
to high-school algebra, some infinite series are used
(exponential, geometric).
Integration and differentiation are the most important skills,
mainly concern-
ing one variable (the exceptions, two dimensional integrals, are
encountered in
Chapters 9–11). Although the mathematics is kept to a
minimum, we strived
VI Preface
to be mathematically correct throughout the book. With respect
to probabil-
ity and statistics the book is self-contained.
The book is aimed at undergraduate engineering students, and
students from
more business-oriented studies (who may gloss over some of the
more mathe-
matically oriented parts). At our own university we also use it
for students in
applied mathematics (where we put a little more emphasis on
the math and
add topics like combinatorics, conditional expectations, and
generating func-
tions). It is designed for a one-semester course: on average two
hours in class
per chapter, the first for a lecture, the second doing exercises.
The material
is also well-suited for self-study, as we know from experience.
We have divided attention about evenly between probability and
statistics.
The very first chapter is a sampler with differently flavored
introductory ex-
amples, ranging from scientific success stories to a
controversial puzzle. Topics
that follow are elementary probability theory, simulation, joint
distributions,
the law of large numbers, the central limit theorem, statistical
modeling (in-
formal: why and how we can draw inference from data), data
analysis, the
bootstrap, estimation, simple linear regression, confidence
intervals, and hy-
pothesis testing. Instead of a few chapters with a long list of
discrete and
continuous distributions, with an enumeration of the important
attributes of
each, we introduce a few distributions when presenting the
concepts and the
others where they arise (more) naturally. A list of distributions
and their
characteristics is found in Appendix A.
With the exception of the first one, chapters in this book consist
of three main
parts. First, about four sections discussing new material,
interspersed with a
handful of so-called Quick exercises. Working these—two-or-
three-minute—
exercises should help to master the material and provide a break
from reading
to do something more active. On about two dozen occasions you
will find
indented paragraphs labeled Remark, where we felt the need to
discuss more
mathematical details or background material. These remarks can
be skipped
without loss of continuity; in most cases they require a bit more
mathematical
maturity. Whenever persons are introduced in examples we have
determined
their sex by looking at the chapter number and applying the rule
“He is odd,
she is even.”
Solution
s to the quick exercises are found in the second to last
section of each chapter.
The last section of each chapter is devoted to exercises, on
average thirteen
per chapter. For about half of the exercises, answers are given
in Appendix C,
and for half of these, full solutions in Appendix D. Exercises
with both a
short answer and a full solution are marked with � and those
with only a
short answer are marked with � (when more appropriate, for
example, in
“Show that . . . ” exercises, the short answer provides a hint to
the key step).
Typically, the section starts with some easy exercises and the
order of the
material in the chapter is more or less respected. More
challenging exercises
are found at the end.
Preface VII
Much of the material in this book would benefit from
illustration with a
computer using statistical software. A complete course should
also involve
computer exercises. Topics like simulation, the law of large
numbers, the
central limit theorem, and the bootstrap loudly call for this kind
of experi-
ence. For this purpose, all the datasets discussed in the book are
available at
http://www.springeronline.com/1-85233-896-2. The same Web
site also pro-
vides access, for instructors, to a complete set of solutions to
the exercises;
go to the Springer online catalog or contact [email protected] to
apply for your password.
Delft, The Netherlands F. M. Dekking
January 2005 C. Kraaikamp
H. P. Lopuhaä
L. E. Meester
Contents
1 Why probability and statistics? . . . . . . . . . . . . . . . . . . . . . . .
. . . . . 1
1.1 Biometry: iris recognition . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 1
1.2 Killer football . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 3
1.3 Cars and goats: the Monty Hall dilemma . . . . . . . . . . . . . . .
. . . . 4
1.4 The space shuttle Challenger . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 5
1.5 Statistics versus intelligence agencies . . . . . . . . . . . . . . . .
. . . . . . . 7
1.6 The speed of light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 9
2 Outcomes, events, and probability . . . . . . . . . . . . . . . . . . . . .
. . . . 13
2.1 Sample spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 13
2.2 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 14
2.3 Probability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 16
2.4 Products of sample spaces . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . 18
2.5 An infinite sample space . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 19
2.6

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A Modern Introduction to Probability and Statistics

  • 1. Springer Texts in Statistics Advisors: George Casella Stephen Fienberg Ingram Olkin F.M. Dekking C. Kraaikamp H.P. Lopuhaä L.E. Meester A Modern Introduction to Probability and Statistics Understanding Why and How With 120 Figures Frederik Michel Dekking Cornelis Kraaikamp Hendrik Paul Lopuhaä Ludolf Erwin Meester Delft Institute of Applied Mathematics Delft University of Technology Mekelweg 4 2628 CD Delft The Netherlands Whilst we have made considerable efforts to contact all holders of copyright material contained in this
  • 2. book, we may have failed to locate some of them. Should holders wish to contact the Publisher, we will be happy to come to some arrangement with them. British Library Cataloguing in Publication Data A modern introduction to probability and statistics. — (Springer texts in statistics) 1. Probabilities 2. Mathematical statistics I. Dekking, F. M. 519.2 ISBN 1852338962 Library of Congress Cataloging-in-Publication Data A modern introduction to probability and statistics : understanding why and how / F.M. Dekking ... [et al.]. p. cm. — (Springer texts in statistics) Includes bibliographical references and index. ISBN 1-85233-896-2 1. Probabilities—Textbooks. 2. Mathematical statistics— Textbooks. I. Dekking, F.M. II. Series. QA273.M645 2005 519.2—dc22 2004057700 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publish- ers, or in the case of reprographic reproduction in accordance
  • 3. with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. ISBN-10: 1-85233-896-2 ISBN-13: 978-1-85233-896-1 Springer Science+Business Media springeronline.com © Springer-Verlag London Limited 2005 The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the informa- tion contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Printed in the United States of America 12/3830/543210 Printed on acid-free paper SPIN 10943403 Preface Probability and statistics are fascinating subjects on the interface between mathematics and applied sciences that help us understand and solve practical
  • 4. problems. We believe that you, by learning how stochastic methods come about and why they work, will be able to understand the meaning of statistical statements as well as judge the quality of their content, when facing such problems on your own. Our philosophy is one of how and why: instead of just presenting stochastic methods as cookbook recipes, we prefer to explain the principles behind them. In this book you will find the basics of probability theory and statistics. In addition, there are several topics that go somewhat beyond the basics but that ought to be present in an introductory course: simulation, the Poisson process, the law of large numbers, and the central limit theorem. Computers have brought many changes in statistics. In particular, the bootstrap has earned its place. It provides the possibility to derive confidence intervals and perform tests of hypotheses where traditional (normal approximation or large sample) methods are inappropriate. It is a modern useful tool one should learn about, we believe. Examples and datasets in this book are mostly from real-life situations, at least that is what we looked for in illustrations of the material. Anybody who has inspected datasets with the purpose of using them as elementary examples knows that this is hard: on the one hand, you do not want to boldly state
  • 5. assumptions that are clearly not satisfied; on the other hand, long explanations concerning side issues distract from the main points. We hope that we found a good middle way. A first course in calculus is needed as a prerequisite for this book. In addition to high-school algebra, some infinite series are used (exponential, geometric). Integration and differentiation are the most important skills, mainly concern- ing one variable (the exceptions, two dimensional integrals, are encountered in Chapters 9–11). Although the mathematics is kept to a minimum, we strived VI Preface to be mathematically correct throughout the book. With respect to probabil- ity and statistics the book is self-contained. The book is aimed at undergraduate engineering students, and students from more business-oriented studies (who may gloss over some of the more mathe- matically oriented parts). At our own university we also use it for students in applied mathematics (where we put a little more emphasis on the math and add topics like combinatorics, conditional expectations, and generating func- tions). It is designed for a one-semester course: on average two hours in class
  • 6. per chapter, the first for a lecture, the second doing exercises. The material is also well-suited for self-study, as we know from experience. We have divided attention about evenly between probability and statistics. The very first chapter is a sampler with differently flavored introductory ex- amples, ranging from scientific success stories to a controversial puzzle. Topics that follow are elementary probability theory, simulation, joint distributions, the law of large numbers, the central limit theorem, statistical modeling (in- formal: why and how we can draw inference from data), data analysis, the bootstrap, estimation, simple linear regression, confidence intervals, and hy- pothesis testing. Instead of a few chapters with a long list of discrete and continuous distributions, with an enumeration of the important attributes of each, we introduce a few distributions when presenting the concepts and the others where they arise (more) naturally. A list of distributions and their characteristics is found in Appendix A. With the exception of the first one, chapters in this book consist of three main parts. First, about four sections discussing new material, interspersed with a handful of so-called Quick exercises. Working these—two-or- three-minute— exercises should help to master the material and provide a break from reading
  • 7. to do something more active. On about two dozen occasions you will find indented paragraphs labeled Remark, where we felt the need to discuss more mathematical details or background material. These remarks can be skipped without loss of continuity; in most cases they require a bit more mathematical maturity. Whenever persons are introduced in examples we have determined their sex by looking at the chapter number and applying the rule “He is odd, she is even.” Solution s to the quick exercises are found in the second to last section of each chapter. The last section of each chapter is devoted to exercises, on average thirteen per chapter. For about half of the exercises, answers are given in Appendix C, and for half of these, full solutions in Appendix D. Exercises with both a short answer and a full solution are marked with � and those with only a short answer are marked with � (when more appropriate, for example, in
  • 8. “Show that . . . ” exercises, the short answer provides a hint to the key step). Typically, the section starts with some easy exercises and the order of the material in the chapter is more or less respected. More challenging exercises are found at the end. Preface VII Much of the material in this book would benefit from illustration with a computer using statistical software. A complete course should also involve computer exercises. Topics like simulation, the law of large numbers, the central limit theorem, and the bootstrap loudly call for this kind of experi- ence. For this purpose, all the datasets discussed in the book are available at http://www.springeronline.com/1-85233-896-2. The same Web site also pro- vides access, for instructors, to a complete set of solutions to
  • 9. the exercises; go to the Springer online catalog or contact [email protected] to apply for your password. Delft, The Netherlands F. M. Dekking January 2005 C. Kraaikamp H. P. Lopuhaä L. E. Meester Contents 1 Why probability and statistics? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Biometry: iris recognition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Killer football . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Cars and goats: the Monty Hall dilemma . . . . . . . . . . . . . . . . . . . 4 1.4 The space shuttle Challenger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.5 Statistics versus intelligence agencies . . . . . . . . . . . . . . . .
  • 10. . . . . . . . 7 1.6 The speed of light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2 Outcomes, events, and probability . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.1 Sample spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3 Probability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.4 Products of sample spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.5 An infinite sample space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.6