Composable models for online Bayesian analysis of streaming data

Data is rapidly increasing in volume and velocity and the Internet of Things (IoT) is one important source of this data. The IoT is a collection of connected devices (things) which are constantly recording data from their surroundings using on-board sensors. These devices can record and stream data to the cloud at a very high rate, leading to high storage and analysis costs. In order to ameliorate these costs, the data is modelled as a stream and analysed online to learn about the underlying process, perform interpolation and smoothing and make forecasts and predictions. Conventional state space modelling tools assume the observations occur on a fixed regular time grid. However, many sensors change their sampling frequency, sometimes adaptively, or get interrupted and re-started out of sync with the previous sampling grid, or just generate event data at irregular times. It is therefore desirable to model the system as a partially and irregularly observed Markov process which evolves in continuous time. Both the process and the observation model are potentially non-linear. Particle filters therefore represent the simplest approach to online analysis. A functional Scala library of composable continuous time Markov process models has been developed in order to model the wide variety of data captured in the IoT.