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                                               5.6 Models with a Group Structure             157

                                                                                             (1)
                          Suppose X is distributed according to p 0 and let g = (σ, µ) denote an element of G .
                                                                                             ls
                        Then

                                                ∞                 ∞
                                    E[h(gX)] =    h(gx)p 0 (x) dx =  h(σ x + µ)p 0 (x) dx
                                                −∞               −∞
                                                ∞

                                                          x − µ 1
                                            =     h(x)p 0         dx.
                                                           σ    σ
                                                −∞
                        Hence, the distribution of gX is absolutely continuous with density function
                                                   1     x − µ
                                          p(x; θ) =  p 0       , −∞ < x < ∞.
                                                  σ       σ
                        The model given by
                                         {p(·; θ): θ = (σ, µ),σ > 0, −∞ <µ< ∞}
                                                          (1)
                        is a transformation model with respect to G .
                                                          ls
                          For instance, consider the case in which p 0 denotes the density of the standard normal
                        distribution. Then the set of distributions of X is simply the set of normal distributions with
                        mean µ and standard deviation σ.
                          Now consider independent, identically distributed random variables X 1 ,..., X n , each
                        distributed according to an absolutely continuous distribution with density function of the
                        form p(·; θ), as given above. The density for (X 1 ,..., X n )isof the form
                                      1         x i − µ
                                            p 0        , −∞ < x i < ∞, i = 1,..., n.
                                       n
                                      σ          σ
                        Clearly, the model for (X 1 ,..., X n )isa transformation model with respect to G ls .
                          Let x ∈ X. The orbit of x is that subset of X that consists of all points that are obtainable
                        from x using a transformation in G; that is, the orbit of x is the set
                                          O(x) ={x 1 ∈ X: x 1 = gx for some g ∈ G}.

                                                                  n
                        Example 5.30 (Location-scale group). Let X = R and consider the group of location-
                                                                  n
                        scale transformations on X. Then two elements of R , x 1 and x 2 , are on the same orbit if
                        there exists (a, b) ∈ G ls such that
                                                     x 1 = ax 2 + b1 n ,
                        that is, if there exists a constant a > 0 such that the elements of x 1 − ax 2 are all equal.
                          Foragiven element x ∈ X,
                                    O(x) ={x 1 ∈ X: x 1 = ax + b1 n , a > 0, −∞ < b < ∞}.

                        Invariance
                                                     k
                        Now consider a function T : X → R .We say that T (X)isan invariant statistic with respect
                        to G if, for all g ∈ G and all x ∈ X, T (gx) = T (x). That is, T is constant on the orbits of X.
                        Hence, if T is invariant, then the probability distribution of T (gX)is the same for all g ∈ G.
                        In particular, if the family of probability distributions of X is invariant with respect to G then
                        the distribution of T (X)is the same for all P ∈ P. Thus, in order to find the distribution of
                        T (X)we may choose a convenient element P ∈ P and determine the distribution of T (X)
                        under P.
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