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In this paper we consider a regression model that allows for time series covariates as well as heteroscedasticity with a regression function that is modelled nonparametrically. We assume that the regression function changes at some unknown time $\lfloor ns_0\rfloor$, $s_0\in(0,1)$, and our aim is to estimate the (rescaled) change point $s_0$. The considered estimator is based on a Kolmogorov-Smirnov functional of the marked empirical process of residuals. We show consistency of the estimator and prove a rate of convergence of $O_P(n^{-1})$ which in this case is clearly optimal as there are only $n$ points in the sequence. Additionally we investigate the case of lagged dependent covariates, that is, autoregression models with a change in the nonparametric (auto-) regression function and give a consistency result. The method of proof also allows for different kinds of functionals such that Cram\'er-von Mises type estimators can be considered similarly. The approach extends existing literature by allowing nonparametric models, time series data as well as heteroscedasticity. Finite sample simulations indicate the good performance of our estimator in regression as well as autoregression models and a real data example shows its applicability in practise.

We consider a nonparametric heteroscedastic time series regression model and suggest testing procedures to detect changes in the conditional variance function. The tests are based on a sequential marked empirical process and thus combine classical CUSUM tests with marked empirical process approaches known from goodness-of-fit testing. The tests are consistent against general alternatives of a change in the conditional variance function, a feature that classical CUSUM tests are lacking. We derive a simple limiting distribution and in the case of univariate covariates even obtain asymptotically distribution-free tests. We demonstrate the good performance of the tests in a simulation study and consider exchange rate data as a real data application., Comment: 20 pages, 1 figure, 2 tables

A weakly dependent time series regression model with multivariate covariates and univariate observations is considered, for which we develop a procedure to detect whether the nonparametric conditional mean function is stable in time against change point alternatives. Our proposal is based on a modified CUSUM type test procedure, which uses a sequential marked empirical process of residuals. We show weak convergence of the considered process to a centered Gaussian process under the null hypothesis of no change in the mean function and a stationarity assumption. This requires some sophisticated arguments for sequential empirical processes of weakly dependent variables. As a consequence we obtain convergence of Kolmogorov-Smirnov and Cram\'er-von Mises type test statistics. The proposed procedure acquires a very simple limiting distribution and nice consistency properties, features from which related tests are lacking. We moreover suggest a bootstrap version of the procedure and discuss its applicability in the case of unstable variances., Comment: 35 pages (including 5 pages of supplementary material), 4 figures, 2 tables

The purpose of this paper is to prove a weak convergence result for empirical processes indexed in general classes of functions and with an underlying $\alpha$-mixing sequence of random variables. In particular the uniformly boundedness assumption on the function class, which is required in most of the existing literature, is spared. Furthermore under strict stationarity a weak convergence result for the sequential empirical process indexed in function classes is obtained, as a direct consequence. Two examples in mathematical statistics, that cannot be treated with existing results, are given as possible applications.