Expand the equation of a non-periodic, uniform B-spline curve of order 3 defined by the

control points
0 1 5
, ,..., P P P in polynomial form and show its local modification capability.

[SOLUTION]
1. The knot vector is specified with the uniform non-periodic knots. The order k of the
base functions is three, and the value of n is five. Since n k > , Eq. (5) is used to
specified the knots
i
t as

0 1 2 3 4 5 6 7 8
0, 0, 0, 1, 2, 3, 4, 4, 4 t t t t t t t t t = = = = = = = = = (1)
and the parameter u is within 0 to 4.

2. The first-order base functions from
0,1
( ) N u to
1,1
( )
n k
N u
+
can be determined easily.

( )
0 1
0,1
1 0
( )
0
t u t u
N u
otherwise
< =
=

(2)

( )
1 2
1,1
1 0
( )
0
t u t u
N u
otherwise
< =
=

(3)

( )
2 3
2,1
1 0 1
( )
0
t u t u
N u
otherwise
< <
=

(4)

( )
3 4
3,1
1 1 2
( )
0
t u t u
N u
otherwise
< <
=

(5)

( )
4 5
4,1
1 2 3
( )
0
t u t u
N u
otherwise
< <
=

(6)

( )
5 6
5,1
1 3 4
( )
0
t u t u
N u
otherwise
< <
=

(7)

( )
6 7
6,1
1 4
( )
0
t u t u
N u
otherwise
< =
=

(8)

( )
7 8
7,1
1 4
( )
0
t u t u
N u
otherwise
< =
=

(9)

3. The base functions can be determined using the Eq. (2).
When the order k is 2, the base functions
,2
( )
i
N u are


0 0,1 0 2 1,1 0,1 1,1
0,2
0 2 1 0 0 2 0 1
( ) ( ) ( ) ( ) ( ) ( )
( ) 0
0 0
u t N u t u N u u N u u N u
N u
t t t t
+
+ + +

= + = + =

(10)
1 1,1 1 2 2,1 1,1 2,1
1,2 2,1
1 2 1 1 1 2 1 1
( ) ( ) ( ) ( ) ( ) (1 ) ( )
( ) (1 ) ( )
0 1
u t N u t u N u u N u u N u
N u u N u
t t t t
+
+ + +

= + = + =

(11)

2 2,1 2 2 3,1 2,1 3,1
2,2
2 2 1 2 2 2 2 1
2,1 3,1
( ) ( ) ( ) ( ) ( ) (2 ) ( )
( )
1 2 1
( ) (2 ) ( )
u t N u t u N u u N u u N u
N u
t t t t
u N u u N u
+
+ + +

= + = +

= +
(12)

3 3,1 3 2 4,1 3,1 4,1
3,2
3 2 1 3 3 2 3 1
3,1 4,1
( ) ( ) ( ) ( ) ( 1) ( ) (3 ) ( )
( )
2 1 3 2
( 1) ( ) (3 ) ( )
u t N u t u N u u N u u N u
N u
t t t t
u N u u N u
+
+ + +

= + = +

= +
(13)

4 4,1 4 2 5,1 3,1 5,1
4,2
4 2 1 4 4 2 4 1
4,1 5,1
( ) ( ) ( ) ( ) ( 2) ( ) (4 ) ( )
( )
3 2 4 3
( 2) ( ) (4 ) ( )
u t N u t u N u u N u u N u
N u
t t t t
u N u u N u
+
+ + +

= + = +

= +
(14)

5 5,1 5 2 6,1 5,1 6,1
5,2
5 2 1 5 5 2 5 1
5,1
( ) ( ) ( ) ( ) ( 3) ( ) (4 ) ( )
( )
4 3 4 4
( 3) ( )
u t N u t u N u u N u u N u
N u
t t t t
u N u
+
+ + +

= + = +

=
(15)

6 6,1 6 2 7,1 6,1 7,1
6,2
6 2 1 6 6 2 6 1
( ) ( ) ( ) ( ) ( 3) ( ) (4 ) ( )
( ) 0
4 4 4 4
u t N u t u N u u N u u N u
N u
t t t t
+
+ + +

= + = + =

(16)

When the order k is 3, the base function
,3
( )
i
N u are

0 0,2 0 3 1,2 0,2 1,2
0,3
0 3 1 0 0 3 0 1
2
2,1
( ) ( ) ( ) ( ) ( ) (1 ) ( )
( )
0 1
(1 ) ( )
u t N u t u N u u N u u N u
N u
t t t t
u N u
+
+ + +

= + = +

=
(17)

1 1,2 1 3 2,2 1,2 2,2
1,3
1 3 1 1 1 3 1 1
2
2,1 3,1
( ) ( ) ( ) ( ) ( ) (2 ) ( )
( )
1 2 0
(2 ) (2 )
(1 ) ( ) ( )
2 2
u t N u t u N u u N u u N u
N u
t t t t
u u u
u u N u N u
+
+ + +

= + = +


= + +


(18)

2 2,2 2 3 2 1,3 1 2,2 3,2
2,3
2 3 1 2 2 3 2 1
2 2
2,1 3,1 4,1
( ) ( ) ( ) ( ) ( ) (3 ) ( )
( )
4 0 3 1
(2 ) (3 ) ( 1) (3 )
( ) ( ) ( )
2 2 2 2
u t N u t u N u u N u u N u
N u
t t t t
u u u u u u
N u N u N u
+ +
+ + +

= + = +


= + + +


(19)

3 3,2 3 3 3 1,3 1 3,2 4,2
3,3
3 3 1 3 3 3 3 1
3,2 4,2
2 2
3,1 4,1 5,1
( ) ( ) ( ) ( ) ( 1) ( ) (4 ) ( )
( )
3 1 4 2
1 4
( ) ( )
2 2
( 1) ( 1)(3 ) (4 )( 2) (4 )
( ) ( ) ( )
2 2 2 2
u t N u t u N u u N u u N u
N u
t t t t
u u
N u N u
u u u u u u
N u N u N u
+ +
+ + +

= + = +


= +

= + + +


(20)

4 4,2 4 3 4 1,3 1 4,2 5,2
4,3
4 3 1 4 4 3 4 1
4,2 5,2
2
4,1 5,1
( ) ( ) ( ) ( ) ( 2) ( ) (4 ) ( )
( )
4 2 4 3
2 4
( ) ( )
2 1
( 2) ( 2)(4 )
( ) (4 ) ( 3) ( )
2 2
u t N u t u N u u N u u N u
N u
t t t t
u u
N u N u
u u u
N u u u N u
+ +
+ + +

= + = +


= +

= + +


(21)

5 5,2 5 3 5 1,3 1 5,2 5,2
5,3
5 3 1 5 5 3 5 1
5,2
2
5,1
( ) ( ) ( ) ( ) ( 3) ( ) (4 ) ( )
( )
4 3 4 4
( 3) ( )
( 3) ( )
u t N u t u N u u N u u N u
N u
t t t t
u N u
u N u
+ +
+ + +

= + = +

=
=
(22)

4. The expression of the B-spline is

2
2
2,1 0 2,1 3,1 1
2 2
2,1 3,1 4,1 2
2
3,1
(2 ) (2 )
( ) (1 ) ( ) (1 ) ( ) ( )
2 2
(2 ) (3 )( 1) (3 )
( ) ( ) ( )
2 2 2 2
( 1) ( 1)(3 ) (4 )( 2)
( )
2 2 2
u u u
p u u N u P u u N u N u P
u u u u u u
N u N u N u P
u u u u u
N u N

= + + +





+ + + +





+ + +

2
4,1 5,1 3
2
3
4,1 5,1 4 5,1 5
(4 )
( ) ( )
2
( 2) ( 2)(4 )
( ) (4 )( 3) ( ) ( 3) ( )
2 2
u
u N u P
u u u
N u u u N u P u N u P

+



+ + + +




(23)

This B-spline contains several segments and they can be represented respectively.

When 0 1 u < ,
2
2
2,1 0 2,1 1 2,1 2
(2 )
( ) (1 ) ( ) (1 ) ( ) ( )
2 2
u u u
p u u N u P u u N u P N u P

= + + +

When 1 2 u < ,
2 2
3,1 1 3,1 2 3,1 3
(2 ) (2 ) (3 )( 1) ( 1)
( ) ( ) ( ) ( )
2 2 2 2
u u u u u u
p u N u P N u P N u P

= + + +

;
When 2 3 u < ,
2 2
4,1 2 4,1 3 4,1 4
(3 ) ( 1)(3 ) (4 )( 2) ( 2)
( ) ( ) ( ) ( )
2 2 2 2
u u u u u u
p u N u P N u P N u P

= + + +

When 3 4 u < ,
2
3
5,1 3 5,1 4 5,1 5
(4 ) ( 2)(4 )
( ) ( ) (4 )( 3) ( ) ( 3) ( )
2 2
u u u
p u N u P u u N u P u N u P

= + + +