Most of the stream mining techniques presented so far have primary paid attention to discovering association rules by direct comparison between time-series data sets. However, their utility is very limited for heterogeneous systems, where time series of various types (discrete, continuous, oscillatory, noisy, etc.) act dynamically in a strongly correlated manner. In this paper, we introduce a new nonlinear transformation, singular spectrum transformation (SST), to address the problem of knowledge discovery of causal relationships from a set of time series. SST is a transformation that transforms a time series into the probability density function that represents a chance to observe some particular change. For an automobile data set, we demonstrate that SST enables us to discover a hidden and useful dependency between variables.