1. Introduction
The statistical modeling and inference of system reliability based on product failure data constitutes a fundamental research area within reliability theory and reliability engineering. As product performance continues to improve, obtaining complete failure data from life-testing experiments has become increasingly difficult; consequently, to reduce experimental duration and associated costs, censored data are typically collected instead of complete observations. Among the censoring schemes (CS) most commonly employed in reliability studies are the Type-I CS (T-I CS), Type-II CS (T-II CS), and Type-I/Type-II hybrid CS (T-I(II) HCS); see, e.g., [
1,
2,
3,
4,
5,
6,
7,
8,
9]. These schemes, however, share a notable limitation: they do not permit the withdrawal of test units prior to the termination of the experiment, which is at odds with many practical scenarios. In medical follow-up studies, for instance, participants may drop out partway through the trial owing to unavoidable circumstances. To overcome this drawback, progressive censoring schemes (PCSs)—including the progressive Type-I CS (T-I PCS) and progressive Type-II CS (T-II PCS)—have been introduced, under which test units may be removed at predetermined stages in accordance with a pre-specified removal scheme. Such schemes not only curtail experimental costs but also shorten the overall testing duration; see, e.g., [
10,
11,
12,
13].
Recent advances in science and technology have given rise to a growing number of highly reliable, long-lifetime products, presenting both novel challenges and opportunities for statistical inference in system reliability. In this context, existing PCSs often prove impractical owing to the potentially prolonged duration of the associated life tests. By integrating the T-II PCS with the HCS, Kundu and Joarder [
14] proposed Type-II progressive hybrid censoring scheme (T-II PHCS) for given test time threshold
T, which effectively solves the problem of longer test time, but cannot avoid the problem of smaller sample size of obtained test data. To defeat this limitation, Ng et al. [
15] introduced an adaptive Type-II progressive censored scheme (AT-II PCS) to ensure that there were enough test data samples when the trial time slightly exceeded
T by adjusting the preset removal scheme without changing the total number of removed individuals. As demonstrated by Ng et al. [
15], the AT-II PCS method proves to be efficient in parameter estimation when the total test duration is not of significant concern. Nevertheless, in cases where the test units are highly reliable products, the experiment duration can become quite lengthy, and the AT-II PCS may not guarantee a satisfactory total test duration. Recently, Yan et al. [
16] addressed this challenge by giving two time thresholds
and introducing a new CS called the improved adaptive progressive Type-II censoring scheme (IAT-II PCS). This scheme has two advantages: First of all, under the premise of obtaining enough test data, the experiment can be effectively ensured to end within a predetermined time. Secondly, it includes several special deletion schemes, such as AT-II PCS, T-II PHCS, and T-II CS. Therefore, the IAT-II PCS method is recommended when the reliability engineer wants to end the test within the specified time.
In practice, a system in operation is often subject to multiple potential failure factors that act competitively—a phenomenon known as competing risks—whereby the occurrence of one failure factor precludes the manifestation of the others. Consequently, studies of competing failures typically focus on the first failure event. In recent years, within the fields of reliability theory and reliability engineering, competing risks models have been extensively investigated under a variety of CSs and lifetime distribution assumptions. For example, Hudgens et al. [
17] derived maximum likelihood estimate (MLE) for cumulative incidence function with interval-censored competing risk data. Wu and Shi [
18] tackled Bayesian estimation using T-I PHCS and binomial removals from a two-parameter Gompertz distribution. Jin and Lai [
19] innovated regression analysis for censored competing risks data, directly modeling cumulative incidence function and using iterative method for parameter estimation. Other studies encompass AT-II PCS for independent exponential risk factors [
20], Weibull competing risk models based on HCS [
21], Chen competing risk models with T-II PCS [
13], step-stress accelerated dependent competing risk models [
22], T-I PCS for generalized inverted exponential distributions [
23], Weibull competing risks based on generalized T-II PHCS [
24], and generalized linear exponential competing risks models with T-II PCS [
25]. By contrast, comparatively few studies have addressed competing risks data under the IAT-II PCS framework. Dutta and Kayal [
26] derived the MLE of parameters of exponential distribution for independent competing risks model under IAT-II PCS. Elshahhat and Nassar [
27] studies the inference of the competing risks model from Weibull distribution under IAT-II PCS. Dutta and Kayal [
28] derived the MLE of parameters of exponential distribution for independent competing risks model under IAT-II PCS. Elshahhat and Nassar [
27] studied the inference of the competing risks model from Weibull distribution under IAT-II PCS. Alotaibi et al. [
29] investigated the estimation of inverted Weibull competing risks model using improved adaptive progressive Type-II censoring plan. Dey and Kayal [
30] examined the statistical inference of Chen lifetime competing risks model based on improved adaptive Type-II progressive censored data. The bulk of the existing literature on competing risks, however, rests on the homogeneity assumption—namely, that all competing failure factors follow distributions from the same parametric family. In many practical settings, the underlying failure mechanisms of different competing factors differ substantially, and consequently their lifetime distributions need not belong to a common family. For example, Ranjan et al. [
31] and Ranjan and Upadhyay [
32] introduced Bayesian analysis and MLE for Gamma-Exponential competing risk models. Recent work by Tarvirdizade and Ahmadpour [
33] introduced Chen–Weibull (C–W) distribution, with minimum Chen and Weibull distributions, which is very flexible to model the bathtub-shaped hazard rate data and its hazard rate function is simple. Abba et al. [
34] present MLE and Bayesian analysis of flexible additive Chen-Gompertz distribution. Such distributions are well suited to the modeling of heterogeneous competing risks.
To the best of our knowledge, no existing study has investigated parameter estimation for heterogeneous competing risks data under the IAT-II PCS. To fill this gap, the present work makes the following contributions. First, an IAT-II PCS heterogeneous competing risks model is formulated on the basis of the C–W distribution under the assumption of independent competing risk factors. Second, both maximum likelihood estimation (MLE) and Bayesian approaches are employed to derive point and interval estimates of the model parameters; specifically, three types of interval estimates are considered—approximate confidence intervals (ACIs), Bootstrap confidence intervals (Bootstrap-CIs), and highest posterior density (HPD) credible intervals. For the Bayesian procedure in particular, following Yousaf et al. [
35] and Ren and Gui [
36], the Gamma distribution is adopted as the prior, and numerical solutions for the parameter estimates are obtained via the Markov Chain Monte Carlo (MCMC) algorithm under the squared error loss (SEL) function. Finally, the proposed methods are assessed through Monte Carlo simulations and further illustrated with a real-data application.
The remainder of this paper is organized as follows.
Section 2 introduces the preliminary concepts and the underlying model assumptions.
Section 3 presents the MLE based on the Newton–Raphson (NR) method, together with the ACIs and Bootstrap-CIs for the model parameters.
Section 4 develops the Bayesian estimation and HPD CIs for the unknown parameters using the MCMC method with Gibbs sampling.
Section 5 reports a Monte Carlo simulation study, with the relevant tables provided in the
Appendix B. A real-data analysis is presented in
Section 6. Finally,
Section 7 concludes the paper with a summary of the main findings.
2. Data and Model Assumption
Consider a lifetime experiment with
n identical units, with lifetimes defined by independent and identically distributed (i.i.d.) random variables
Without loss of generality, assume that each unit is exposed to only two competing risk factors, that is,
for
where
represents the latent failure time of the
i-th unit under the
k-th cause of failure. Furthermore, we assume that the latent failure times
and
are heterogeneous and independent following the Chen and Weibull distributions, respectively. Then, for all
the cumulative distribution function (CDF) and the probability density function (PDF) of
can be expressed as
respectively, and the CDF and PDF of
can be expressed as
respectively, then, the CDF and PDF of
can be expressed as
respectively.
The choice of this heterogeneous pairing is motivated by three considerations. First, the two families offer complementary hazard-shape flexibility, the Weibull hazard is monotone—increasing for
, decreasing for
, and constant for
—thereby capturing the standard wear-out, infant-mortality, and memoryless patterns commonly seen in reliability data, whereas the Chen distribution additionally accommodates bathtub-shaped hazards (when
) that arise in systems subject to high initial failure intensity, a quiescent intermediate phase, and increasing late-life failures. These complementary shapes are illustrated in
Figure 1: the
Figure 1a displays the strict monotonicity of the Weibull hazard, while the
Figure 1b reveals the bathtub minima of the Chen hazard at
and
(marked with symbols), so that together the two families span the principal hazard patterns cataloged in lifetime data analysis. Second, both distributions possess closed-form CDFs, which allows the joint sub-density of competing-risks observations under the IAT-II PCS scheme to be expressed in closed form as well—an advantage that the lognormal and inverse Gaussian, whose CDFs involve special functions, do not share under heavy censoring. Third, in the actual data analysis, we found that using the Chen distribution and the Weibull distribution to fit the failure data caused by failure cause 1 and failure cause 2, respectively, and validating through the Kolmogorov–Smirnov (KS) test, both distributions showed high fitting accuracy, which further confirms the reasonableness of the model specification.
Suppose an experiment involving a set of n units, having independent lifetime , it is assumption that for i-th unit (), its lifetime is represented as , where, and . Before commencing the experiment, two critical pieces of information are given: the number of failures to be observed, denoted as m, and a predefined PCS ,, with During the experiment, when the i-th unit experiences a failure, and its lifetime is denoted as , we remove a specified number of units, which is determined by , from the remaining units in the experiment. It is worth noting that the value of may be adjusted as the experiment progresses. Additionally, two predetermined threshold values, and with , are set in advance. serves as the first threshold, acting as a warning regarding the testing duration. When the experiment reaches , it indicates the need to accelerate the testing process. The experiment can continue beyond this point. functions as the second threshold, signifying the maximum allowable duration for the experiment. Regardless of whether the desired number of failures (m) has been reached or not, the experiment must be terminated once it reaches . This experiment is called IAT-II PCS, a detailed explanation is given the following:
If , the experiment ends before time , resembling the Type-II PCS with the censoring plan .
If , where is such that , the experiment concludes at , akin to the AT-II PCS with the censoring plan .
If exceeds the experiment time allowed by , where is such that , the experiment ends at , resembling the IAT-II PCS with the censoring plan .
A schematic illustration of the IAT-II PCS procedure is provided in
Figure 2; further details can be found in Yan et al. [
16].
Based on the IAT-II PCS competing risk data, as illustrated in
Figure 2, we observe as follows:
where
denotes that unit
l failed at time
because of the first and second causes of failures, respectively. Let
denotes the time of termination of the test. In addition,
,
,
,
, and
where
Equation (
5a) denotes the T-II PCS;
Equation (
5b) denotes the AT-II PCS;
Equation (
5c) denotes the IAT-II PCS.
Let
where
, then, the random variables
and
describe the number of failures due to the first and second cause of failures, respectively. Therefore,
, in which
m is considered positive and fixed.
Using the independence of the latent failure times
and
, we obtain the relative risk rate of failure cause 1 can be obtained by calculating
and we have
and
.
For convenience, sample
is abbreviated as
. From data (
4), we can write the likelihood function in the presence of the IAT-II PCS based on competing risks as follows:
where
is a constant that does not depend on the parameters
4. Bayesian Inferences
The Bayesian approach offers several advantages over the MLE approach for statistical inference. In particular, it allows prior information about the parameters to be incorporated into subsequent analysis: when such prior information is available, the Bayesian framework yields a posterior distribution that combines the prior with the observed data, on the basis of which reliable inferences can be drawn even from small datasets. In this section, we develop Bayesian estimation of the parameter vector for the heterogeneous competing risks model under the IAT-II PCS lifetime test, with the Bayes estimates obtained under the SEL function via the Gibbs sampling algorithm.
Following [
35,
36,
39], the parameter pairs
and
are assumed to follow independent gamma distributions. It is readily seen that the prior distribution
and
where all hyperparameters
are specifically known and positive.
Therefore, for
the joint prior distribution is given by
Subsequently, the joint posterior distribution can be written as follows:
Assume that
is a function of
and
using the SEL function, the Bayesian estimator of
can be expressed as the posterior mean:
Note that the ratio of integrals (
23) cannot be expressed in closed form. Thus, we adopt the MCMC method to compute the Bayesian estimator.
Gibbs sampling is an extensively applied technique for generating samples from the full conditional probability distribution to compute Bayesian estimates and construct the HPD CIs. The Gibbs sampling algorithm is a well-known method for constructing Markov chains, it calculates the probability of the next sample as a conditional probability given the prior sample. For this purpose, (
22) can be written as
The Metropolis–Hastings (MH) algorithm is often used with the Gibbs sampling procedure to obtain Bayesian estimation and HPD CIs, which is a viable method for constructing an MCMC chain. The Bayesian simulation process is conducted based on Algorithm 3. To assess MCMC sampler convergence, we run 3 parallel chains. Then, the posterior means are obtained as follows:
where
M denotes the number of numerical simulations and
A denotes the number of burn-in periods.
| Algorithm 3 M–H within Gibbs sampler for Bayesian estimation and HPD credible interval construction under the IAT-II PCS competing-risks model. |
- 1:
Given the IAT-II PCS sample the prior hyper-parameters the initial values the proposal standard deviation the total number of iterations the burn-in length and acceptance counters - 2:
For repeat Steps 3–7; - 3:
(Gibbs step for .) Recognizing as a Gamma density, draw directly from - 4:
(Gibbs step for .) Similarly, draw - 5:
(M–H step for .) Propose If automatically reject by setting otherwise, compute the acceptance probability
draw If accept by setting and increment otherwise set - 6:
(M–H step for .) Analogous to Step 5 with the target density counter and proposal standard deviation (possibly tuned separately); - 7:
Compute based on - 8:
Discard the first A iterations as burn-in and retain the post-burn-in sample - 9:
Repeat Steps 1–8 three times with dispersed starting values to obtain three independent chains, then compute the Bayes estimate - 10:
For a fixed sort in ascending order to obtain the order statistics Then, the HPD credible interval is given by
where and is the length of - 11:
Output the empirical acceptance rates and for the two M–H updates.
|
5. Simulation Experiments
In this section, we conduct a Monte Carlo simulation to investigate the performance of the MLE and Bayesian estimate of IAT-II PCS heterogeneous competing risk data. We consider two criteria for evaluating the estimator’s behavior: the average bias (AB), which is given by
and the mean squared error (MSE), which is given by
where
N denotes the number of estimates (i.e., the maximum number of iterations). Additionally, we compute the interval length (IL) and coverage probability (CP). Good estimators should have a bias, approximately zero MSE, short IL, and approximately 0.95 CP. The proposed simulation design agrees with the following setup: the real values of the parameters are chosen as
We take
and
Using
and
the various CSs are considered, include left censoring (L), right censoring (R), uniform censoring (U), and middle censoring (M), as shown in
Table 1.
Next, we present the algorithm (Algorithm 4) to obtain IAT-II PCS heterogeneous competing risk data.
| Algorithm 4 IAT-II PCS heterogeneous competing risk data. |
- 1:
Given and , based on R function: rType2(), we generate progressive Type II censored data of heterogeneous competing risk denoted by - 2:
By leveraging the relative failure risk rate and the observation that follows a distribution, we can derive a set of simulated failure causes denoted as ; - 3:
Given the time point and , where use Step 1 to determine the value of IAT-II PCS sample can be obtained in one of the following steps; - 4:
if then IAT-II PCS degrades into a Type II progressive censored scheme. Thus, the sample is and failure causes is also - 5:
if and we record Then, IAT-II PCS degrades into an adaptive Type II progressive censored scheme, and we replace the sample with the first order statistics from a truncated PDF with a sample size where and are given in ( 3). Thus, the sample is
and failure causes is also - 6:
if and we record and discard sample Thus, the sample is
and failure causes is - 7:
if that is, we record and discard the sample . Thus, the sample is and failure causes is
|
In our simulation study, the MLEs of the model parameters are computed via the Newton–Raphson (NR) algorithm, with the maximum number of iterations set to
10,000 and the convergence tolerance fixed at
. The Bayesian estimators are obtained using MCMC methods. The hyperparameters of the Gamma priors are specified as follows: under the informative scenario,
and
; under the non-informative scenario,
for
. Setting
to a small common value such as
yields a nearly flat density whose limiting form as
coincides with the Jeffreys-type non-informative prior
for a scale parameter (Berger and Bernardo [
40]), thereby encoding minimal prior information while ensuring posterior propriety. Moreover, the Gamma prior has been widely adopted in recent Bayesian analyses of survival and competing-risks data under progressive censoring (Yousaf et al. [
35], Ren and Gui [
36] and Kundu and Gupta [
39]), which facilitates direct comparison with existing studies.
In particular, for the MH algorithm, we set the total number of iterations and the burn-in length to
10,000 and
1000, respectively. The Gaussian random-walk proposal scale is fixed at
throughout the simulations. Across all censoring schemes, the empirical acceptance (Acc) rates fell within the
window recommended for one-dimensional random-walk MH updates (W.R. [
41]) in 78.3% of the
updates and 92.5% of the
updates. The effective sample size (ESS) of each posterior chain is evaluated by means of Geyer’s initial monotone sequence estimator (Geyer [
42]), as implemented in the R (Version 4.5.3) package
coda, yielding average ESS values of 1583 for
(minimum ESS
) and 1842 for
(minimum ESS
), both comfortably exceeding the threshold of 400 commonly regarded as sufficient for reliable posterior inference (VATS et al. [
43]). Detailed values of the acceptance rates and ESS for each censoring scheme are reported in
Table A11,
Table A12 and
Table A13.
To assess the convergence behavior of the MCMC algorithm, the trace plots, autocorrelation plots, and marginal posterior histograms of three parallel chains (C1, C2, C3) under the informative and non-informative priors are displayed in
Figure 3,
Figure 4 and
Figure 5, respectively. The trace plots (
Figure 3) indicate that, for each parameter, the three chains mix well and converge rapidly to a common stationary distribution. The autocorrelation plots (
Figure 4) show that the autocorrelations decay to zero as the lag increases, indicating adequate mixing and negligible dependence between successive draws. Moreover, the histograms (
Figure 5) display an approximately symmetric and unimodal shape centered at the posterior mode, implying that the posterior mean—the Bayes estimator under the squared error loss—provides a reliable point estimate of the underlying parameter.
For each censoring scheme, the performance of the MLEs and Bayesian estimators is assessed in terms of the AB, MSE, IL, and CP. The corresponding results are reported in
Table A1,
Table A2,
Table A3,
Table A4,
Table A5,
Table A6,
Table A7,
Table A8,
Table A9 and
Table A10 of
Appendix B.
As shown in
Table A1,
Table A2 and
Table A3, the AB and MSE of both the MLE and the Bayesian estimators are close to zero for all parameters. Moreover, for fixed
, the AB and MSE of both estimators tend to decrease as
increases, and a similar pattern is observed as the effective sample size
m grows. In most cases, the AB and MSE values produced by the Bayesian estimator under informative priors are slightly smaller than those under non-informative priors, which in turn are slightly smaller than those of the MLE.
As illustrated in
Table A4,
Table A5,
Table A6,
Table A7,
Table A8,
Table A9 and
Table A10, the CPs of the ACIs, the HPD credible intervals (under both informative and non-informative priors), and the bootstrap intervals (bootstrap-
t and bootstrap-
p) are all close to the nominal confidence level. In most cases, under the same CS, the ILs rank from smallest to largest as follows: bootstrap-
p, bootstrap-
t, informative HPD, non-informative HPD, and ACI based on the MLE. As the effective sample size increases, the IL decreases and the CP increases for every method considered.
In summary, the simulation results indicate that the Bayesian point and interval estimators outperform their MLE counterparts in the majority of settings. The Bayesian estimator together with the associated credible interval is therefore the preferred choice whenever prior information on the unknown parameters is available; otherwise, the results based on the non-informative prior can serve as a reliable alternative.
6. Real Data Analysis
In this section, we present an analysis of a real-life test dataset to illustrate the inference process presented in [
44]. The dataset contains 58 electrodes (segments cut from bars) and was subjected to a high-stress voltage endurance life test. This dataset has also been considered by numerous authors. For example, ref. [
13] considered the estimation problems using the competing risk model with T-II PCS Chen distribution. The failures were attributed to one of the following two causes based on an autopsy (
Table 2):
cause 1. Degradation failure: Degradation of the organic material. These failures typically occur later in life.
cause 2. Early failure: Insulation defects due to processing problems. These failures occur early in life.
Therefore, we obtain 27 failure samples owing to cause 1 and 18 failure samples owing to cause 2. Additionally, there were 13 electrodes still running. To analyze the previous inference progress, we considered only the completely observed samples and left the sample that was still running.
Before further analysis, we need to determine whether this dataset can be modeled using the C–W distribution. The Kolmogorov–Smirnov (KS) test is an effective method for comparing samples with a reference probability distribution, and thus, we use the KS test to investigate whether the heterogeneous competing risk model, namely C–W competing risk model, is suitable for the dataset. For samples with failure cause 1, we use the Chen distribution to fit the data; the
p-value of the KS test is 0.9711, and the KS distance is 0.1074. For samples with failure cause 2, we use the Weibull distribution to fit the data; the
p-value of the KS test is 0.96, and the KS distance is 0.0921. For samples with a complete sample, we use the C–W distribution to fit the data; the
p-value of the KS test is 0.9847, and the KS distance is 0.0651, The results are reported in
Table 3. It can be found that the
p-values are both relatively large (greater than 0.05). Moreover, in the associated empirical cumulative distribution plots, the KS distances are marked with red dots. The Quantile–Quantile (Q–Q) plots and the Probability–Probability (P–P) plots are shown in
Figure 6 and
Figure 7, respectively. It can be easily observed that the C–W distribution is a suitable fit for this electrode’s life test dataset. Therefore, we believe that this set of data can be modeled and analyzed using C–W distribution.
Based on
Table 2, let
and
We obtain IAT-II PCS data using various CSs, as illustrated in
Table 4.
Figure 8 illustrates that the profile log-likelihood functions of
and
are unimodal using CS S1, which means that the MLE exists and is unique. Additionally, the point and interval estimations of the MLE and Bayesian methods are presented in
Table 5, where the results of the MLE resemble those of the Bayes estimate with non-information using S1–S4. It can be observed that the proposed algorithm is suitable and reasonable for processing IAT-II PCS data with heterogeneous competing risks.