A Short Review of Cagd Tools For Isogeometric Analysis

A SHORT REVIEW of CAGD TOOLS for
ISOGEOMETRIC ANALYSIS
Carla Manni
Dipartimento di Matematica, Università di Roma “ Tor Vergata”
SIMAI 2008
Minisymposium
IsoGeometric Analysis: a New Paradigm for the Discretization of PDEs
Rome, September 16, 2008
A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.1/56

Isogeometric Analysis
a method for the analysis of problems governed by PDE:


more accurate modeling of complex geometries/exact
representations of common engeneering shapes


[J.A. Cottrell , T.J.R. Hughes, Y. Bazilevs, CMAME, 2005]


geometrically exact: no matter how coarse is the
discretization


discretization


discretization
simplified mesh refinement


discretization
simplified mesh refinement
“the solution space for dependent variables is represented in terms of
the same functions which represent the geometry”
[Huges-Cottrel-Bazilevs, 2005]
⇓
Isogeometric analysis

Isogeometric Analysis (based on NURBS)
exact description of the geometery at any level


several efficient possibilities of refinement

h− refinement (knot-insertion/knot-refinement)
p− refinement (degree-elevation/degree-raising)
k− refinement (suitable combinations of the previous)


h−refinement, [J.A. Cottrell , T.J.R. Hughes, Y. Bazilevs, CMAME, 2005]


[J.A. Cottrell , T.J.R. Hughes, A. Reali, CMAME, 2007]


easy treatment of smooth “elements” ⇒ suitable for “high
regular” problems


regular” problems
easy treatment regions with low smoothness


regular” problems
existence of efficient and stable algorithms for evaluation

and representation


regular” problems
existence of efficient and stable algorithms for evaluation

and representation
“In a sense, Isogeometric Analysis [based on NURBS] is a superset of FEA”
[Cottrel-Bazilevs-Beirao da Vega-Cottrell-Huges-Sangalli, 2006]

Goal
present basic algorithms/properties of B-splines of salient

interest

Goal
present basic algorithms/properties of B-splines of salient

interest
propose a possible alternative to the rational (NURBS)

model

Outline
B-splines
definition
main properties
main algorithms

Outline
B-splines
definition
main properties
main algorithms
B-splines → NURBS

Outline
B-splines
definition
main properties
main algorithms
B-splines → NURBS
Alternatives to the rational model

B-splines
B-spline functions/curves/surfaces are NOT special

piecewise polynomial (p.p.) functions/curves/surfaces

B-splines

B-splines are a special form to represent any p.p.

function/curve/surface

B-splines


Why are B-splines so popular?

B-splines



they are the best way to represent p.p. both from the
geometric and computational point of view

B-splines



they are the best way to represent p.p. both from the
geometric and computational point of view
there exist efficient and stable algorithms for their
evaluation/manipulation

Notation: control polygon
U :=< ϕ1 (t), · · · , ϕm (t) >, < 1, t >⊂ U

U :=< ϕ1 (t), · · · , ϕm (t) >, < 1, t >⊂ U

curves in Rd 1 c3
m
X 0.8
C(t) := ci ϕi (t), 0.6 c2 c4

i=1 0.4
c6
ci ∈ Rd control points 0.2
0
c5
1.5
1.5
1
1
0.5
0.5
c1
0 0

U :=< ϕ1 (t), · · · , ϕm (t) >, < 1, t >⊂ U

curves in Rd 1 c3
m
X 0.8
C(t) := ci ϕi (t), 0.6 c2 c4

i=1 0.4
c6
0
c5
1.5
1.5
1
1
0.5
0.5
c1 0 0
3.5
scalar functions 3
m
X 2.5
f (t) := ci ϕi (t), 2
 i=1   1.5
m
X ξ∗
t
 =  i  ϕi (t), 1
f (t) i=1 ci 0.5

*
ξ1
* ξ2
T 0
ξi∗ , ci ∈ R2 control points
−0.5
0 1 2 3 4 5 6 7

U :=< ϕ1 (t), · · · , ϕm (t) >, < 1, t >⊂ U

curves in Rd 1 c3
m
X 0.8
C(t) := ci ϕi (t), 0.6 c2 c4

i=1 0.4
c6
0
c5
1.5
1.5
1
1
0.5
0.5
control polygon c1 0 0
3.5
scalar functions 3
m
X 2.5
f (t) := ci ϕi (t), 2
 i=1   1.5
m
X ξ∗
t
 =  i  ϕi (t), 1
f (t) i=1 ci 0.5

*
ξ1
* ξ2
T 0
ξi∗ , ci ∈ R2 control points
−0.5
0 1 2 3 4 5 6 7

Bernstein polynomials

(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
i = 1, · · · , p, t ∈ [0, 1] 0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1

Bernstein polynomials p : order=degree+1

(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
i = 1, · · · , p, t ∈ [0, 1] 0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1


(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
0.7
i = 1, · · · , p, t ∈ [0, 1] 0.6
0.5
positivity:
0.4
(p)
Bi (t) ≥ 0, t ∈ [0, 1] 0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1


(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
0.7
i = 1, · · · , p, t ∈ [0, 1] 0.6
0.5
positivity:
0.4
(p)
Bi (t) ≥ 0, t ∈ [0, 1] 0.3
0.2
partition of unity: (p) 0.1

Pp
i=1 Bi (t) = 1, ∀t 0
0 0.2 0.4 0.6 0.8 1


(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
0.7
i = 1, · · · , p, t ∈ [0, 1] 0.6
0.5
positivity:
0.4
(p)
Bi (t) ≥ 0, t ∈ [0, 1] 0.3
0.2

Pp
i=1 Bi (t) = 1, ∀t 0
0 0.2 0.4 0.6 0.8 1
Computational consequences: well conditioned basis


(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
0.7
i = 1, · · · , p, t ∈ [0, 1] 0.6
0.5
positivity:
0.4
(p)
Bi (t) ≥ 0, t ∈ [0, 1] 0.3
0.2

Pp
i=1 Bi (t) = 1, ∀t 0
0 0.2 0.4 0.6 0.8 1
Geometric consequences
p. unity ⇒ affine invariance
p p
(p) (p)
X X
d
pi ∈ R , C(t) = pi Bi (t) ⇒ AC(t)+q = (Api + q)Bi (t)
i=1 i=1


(p) p − 1 i−1
Bi (t) := t (1 − t)p−i 1
i−1 0.9
0.8
0.7
i = 1, · · · , p, t ∈ [0, 1] 0.6
0.5
positivity:
0.4
(p)
Bi (t) ≥ 0, t ∈ [0, 1] 0.3
0.2

Pp
i=1 Bi (t) = 1, ∀t 0
0 0.2 0.4 0.6 0.8 1
Geometric consequences
p. unity ⇒ affine invariance
p p
(p) (p)
X X
d
pi ∈ R , C(t) = pi Bi (t) ⇒ AC(t)+q = (Api + q)Bi (t)
i=1 i=1
p
1
positivity & p. unity ⇒ convex hull
p3
p
(p)
X
C(t) = pi−1 Bi (t) ∈ .
i=1 p0 p
2

Bernstein polynomials: recurrence relations
(3) (2) (2)
B2 (t) = 2t(1 − t) = (1 − t)t + t(1 − t) = (1 − t)B2 (t) + tB1 (t)

(p) (p−1) (p−1)
Bi (t) = (1 − t)Bi (t) + tBi−1 (t)
k − 1
(k) (k) (k)
Bi = 0, i < 1, i > k, Bi (t) = Bi (t) := ti−1 (1 − t)k−i , i = 1, · · · , k
i−1

(p) (p−1) (p−1)
Bi (t) = (1 − t)Bi (t) + tBi−1 (t)
p p p−1
(p) (p) (p) (p−1) (p) (p−1) (p−1) (1)
X X X
ci Bi (t) = ci [(1−t)Bi (t)+tBi−1 (t)] = ci Bi (t) = ... = c1
i=1 i=1 i=1
(k−1) (k) (k)

ci := (1 − t)ci + tci+1 i = 1, · · · , k − 1
(4)
(3) c3
c2
(4) (2)
c2 c2
(2) (1) c3
(3)
c1 c1
(3) (4)
c1 c4
(4)
c1
(p) (p−1) (p−1)
Bi (t) = (1 − t)Bi (t) + tBi−1 (t)
p p p−1
(p) (p) (p) (p−1) (p) (p−1) (p−1) (1)
X X X
ci Bi (t) = ci [(1−t)Bi (t)+tBi−1 (t)] = ci Bi (t) = ... = c1
i=1 i=1 i=1
(k−1) (k) (k)

ci := (1 − t)ci + tci+1 i = 1, · · · , k − 1
(4)
(3) c3
c2
(4) (2)
c2 c2
(2) (1) c3
(3)
c1
de Casteljau algorithm
c1
(3) (4)
c1 c4
evaluation=convex combinations
(4)
c1
Bernstein polynomials: (p)
Bi (t) = (1 − t)Bi
(p−1) (p−1)
(t) + tBi−1 (t)
Degree raising/Degree elevation

p p+1
(p) (p+1)
X X
IPp ⊂ IPp+1 ⇒ ci Bi (t) = ĉi Bi (t) .
i=1 i=1

Bi (t) = (1 − t)Bi
(p−1) (p−1)
(t) + tBi−1 (t)

p p+1
(p) (p+1)
X X
i=1 i=1
p−i+1 i−1
ĉi := p ci + p ci−1

Bi (t) = (1 − t)Bi
(p−1) (p−1)
(t) + tBi−1 (t)

p p+1
(p) (p+1)
X X
i=1 i=1
p−i+1 i−1
Derivatives:
p p−1
(p) (p−1)
X X
C(t) := ci Bi (t) ⇒ C 0 (t) = (p − 1)(ci+1 − ci )Bi (t)
i=1 i=1
(p) (p−1) (p−1)
D(Bi )(t) = (p − 1)[Bi−1 (t) − Bi (t)]

Bi (t) = (1 − t)Bi
(p−1) (p−1)
(t) + tBi−1 (t)

p p+1
(p) (p+1)
X X
i=1 i=1
p−i+1 i−1
Derivatives:
p p−1
(p) (p−1)
X X
C(t) := ci Bi (t) ⇒ C 0 (t) = (p − 1)(ci+1 − ci )Bi (t)
i=1 i=1
(p) (p−1) (p−1)
D(Bi )(t) = (p − 1)[Bi−1 (t) − Bi (t)]
Z 1 1
Integration: (p)
Bi (t)dt =
0 p
"R #
t (p−1) Rt (p−1)
(p) 0 Bi−1 (s)ds 0 Bi (s)ds
Bi (t) = R 1 (p−1) − R 1 (p−1)
0 Bi−1 (t)dt 0 Bi (t)dt

Bernstein polynomials ...
(p) (p)
B1 · · · Bp is a Totally Positive (TP) basis for IPp

TP bases
A basis {ϕ1 , · · · , ϕp } of a space U is TP in I ⊂ R if any collocation matrix
 
ϕ1 (t1 ) ··· ϕp (t1 )
.. .. 
 
t1 < t2 < · · · < tr , ti ∈ I, i = 1, · · · , r


 . .  
ϕ1 (tr ) ··· ϕp (tr )
is Totally Positive (⇔ any subdeterminant ≥ 0)

TP bases
 
ϕ1 (t1 ) ··· ϕp (t1 )
.. .. 
 
t1 < t2 < · · · < tr , ti ∈ I, i = 1, · · · , r


 . .  
ϕ1 (tr ) ··· ϕp (tr )

A matrix is TP iff it is the product of positive “bidiagonal” matrices
0 0 0
1 1 1
2 2 2
3 3 3
4 4 4
5 5 5
6 6 6
7 7 7
8 8 8
9 9 9
10 10 10
11 11 11
0 2 4 6 8 10 12 0 2 4 6 8 10 0 2 4 6 8 10
{ϕ1 , · · · , ϕm } TP basis c1 , · · · , cm ∈ R ⇒
Pm
# sign ch. ( i=1 ci ϕi (t)) ≤ # sign ch. (c1 , · · · , cm ).

TP bases
 
ϕ1 (t1 ) ··· ϕp (t1 )
.. .. 
 
t1 < t2 < · · · < tr , ti ∈ I, i = 1, · · · , r


 . .  
ϕ1 (tr ) ··· ϕp (tr )
TP⇒ Variation diminishing

any hyperplane crosses
Pm
i=1 ci ϕi (t) at most as many times as
its control polygon

(p) (p)

(p) (p)
(p) (p)
B1 · · · Bp is the best normalized TP basis IPp it is the
normalized B-basis for IPp

(p) (p)
(p) (p)
A (normalized and) TP basis {B1 , · · · , Bp } of U is a B-basis if for any (normalized and) TP basis
{ϕ1 , · · · , ϕp } of U the matrix K

ϕ1 ··· ϕ p = B1 ··· Bp K
is (stochastic and) TP.

(p) (p)
(p) (p)
⇓
has minimum condition number (among p. bases)
p
Φ := (ϕ1 , · · · , ϕp ) positive basis of IPp , q(t) :=
P
i=1 ci ϕi (t)
p
X
CΩ (q(t), t) := |ci |ϕi (t) Condition number of q w.r.t. Φ
i=1

(p) (p)
(p) (p)
⇓
has minimum condition number (among p. bases)
has optimal geometric properties (among TP bases)

B-Bases: geometric properties
(p) (p)
{B1 , · · · , Bp } B-basis, {ϕ1 , · · · , ϕp } TP basis
n p
(p)
X X
C(t) := qj ϕj (t) = pi Bi (t),
j=0 i=1
⇓
p1 , · · · , pp “lies between” q1 , · · · , qp and C

B-Bases: geometric properties
(p) (p)
{B1 , · · · , Bp } B-basis, {ϕ1 , · · · , ϕp } TP basis
q1 q =p
3 3
n p
(p)
X X
C(t) := qj ϕj (t) = pi Bi (t),
j=0 i=1
p
1
p
⇓ 2
p1 , · · · , pp “lies between” q1 , · · · , qp and C

p =q q
0 0 2
p1 , · · · , pp better description of C : shape less “overemphasized”

(p) (p)

(p) (p)
(p) (p)
B1 · · · Bp is the normalized B-basis for IPp
m 1
0.9
0.8
(p)
Bj (t) (p) 0.7
inf{ (p) : Bi (t) 6= 0} = 0, ∀ i 6= j 0.6
Bi (t) 0.5
0.4
0.3
0.2
⇓ 0.1
0
0 0.2 0.4 0.6 0.8 1
it has optimal geometric and computational properties

(p) (p)
(p) (p)
B1 · · · Bp is the normalized B-basis for IPp
m 1
0.9
0.8
(p)
Bj (t) (p) 0.7
inf{ (p) : Bi (t) 6= 0} = 0, ∀ i 6= j 0.6
Bi (t) 0.5
0.4
0.3
0.2
⇓ 0.1
0
0 0.2 0.4 0.6 0.8 1
it has optimal geometric and computational properties
all the given properties can be obtained by blossoms

B-splines
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p } knots

· · · < ξi = ξi+1 = · · · = ξi+ρi −1 < ξi+ρi , 1 ≤ ρi ≤ p multiplicity
usually
ξ1 = · · · = ξp < · · · < ξn+1 = · · · = ξn+p

1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

Bi,Ξ (t) := ξi+p−1 −ξi i,Ξ (t)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
i-th B-spline, of order p, with knots Ξ

B-splines
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p } knots

usually
ξ1 = · · · = ξp < · · · < ξn+1 = · · · = ξn+p

1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 0 1 2 3 4 5 0 1 2 3 4 5 6 0 1 2 3 4 5 6 7

B-splines
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p } knots

usually
ξ1 = · · · = ξp < · · · < ξn+1 = · · · = ξn+p

1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 1 2 3 4 5 0 1 2 3 4 5 6 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 9

B-splines: evaluation
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
(p) (p−1) (p−1) t−ξi
Bi,Ξ (t) := ωi,p (t)Bi,Ξ (t) + (1 − ωi+1,p (t))Bi+1,Ξ (t) ωi,p (t) := ξi+p−1 −ξi

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
(p) (p−1) (p−1) t−ξi
(p) (p)
X
C(t) := ci Bi,Ξ (t), t ∈ [ξr , ξr+1 )

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
(p) (p−1) (p−1) t−ξi
(p) (p)
X
C(t) := ci Bi,Ξ (t), t ∈ [ξr , ξr+1 )
(p) (p) (p−1) (p−1) (p−1) (p−1)

X X X
ci Bi,Ξ (t) = ci [ωi,p (t)Bi,Ξ (t)+(1−ωi+1,p (t))Bi+1,Ξ (t)] = cj Bj,Ξ (t)
i i j
(1) (1) (1)

X
= ··· = cj Bj,Ξ (t) = cr
j

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
(p) (p−1) (p−1) t−ξi
(p) (p)
X
C(t) := ci Bi,Ξ (t), t ∈ [ξr , ξr+1 )
(p) (p) (p−1) (p−1) (p−1) (p−1)

X X X
i i j
(1) (1) (1)

X
= ··· = cj Bj,Ξ (t) = cr
j
(k−1) (k) (k)

ci := ωi,k (t)ci + (1 − ωi,k (t))ci−1 , k = p, p − 1, ...

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
(p) (p−1) (p−1) t−ξi
(p) (p)
X
C(t) := ci Bi,Ξ (t), t ∈ [ξr , ξr+1 )
(p) (p) (p−1) (p−1) (p−1) (p−1)

X X X
i i j
(1) (1) (1)

X
= ··· = cj Bj,Ξ (t) = cr
j
(k−1) (k) (k)

convex combination

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
(p) (p−1) (p−1) t−ξi
(p) (p)
X
C(t) := ci Bi,Ξ (t), t ∈ [ξr , ξr+1 )
(p) (p) (p−1) (p−1) (p−1) (p−1)

X X X
i i j
(1) (1) (1)

X
= ··· = cj Bj,Ξ (t) = cr
j
(k−1) (k) (k)

convex combination
de Boor Algorithm
B-splines: properties
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 1 2 3 4 5 0 1 2 3 4 5 6 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 9

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 1 2 3 4 5 0 1 2 3 4 5 6 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 9
(p)
p.p. Bi,Ξ ∈ IPp , t ∈ [ξj , ξj+1 ]

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 1 2 3 4 5 0 1 2 3 4 5 6 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 9
(p)
p.p. Bi,Ξ ∈ IPp , t ∈ [ξj , ξj+1 ]
(p)
positivity Bi,Ξ ≥ 0

(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 1 2 3 4 5 0 1 2 3 4 5 6 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 9
(p)
p.p. Bi,Ξ ∈ IPp , t ∈ [ξj , ξj+1 ]
(p)
positivity
1
Bi,Ξ ≥0 p=3
compact (minimum) support

(p)
Bi,Ξ (t) = 0, t ∈
/ [ξi , ξi+p ]
0
(p)
Bi,Ξ (t) = 0, t ∈ [ξr , ξr+1 ], i 6= r, r−1, .., r−p+1 ξ
i
ξ
i+1
ξ
i+2
ξ
i+3

B-splines: a special case
Ξ := {ξ1 = 0 = · · · = 0 = ξp < ξp+1 = 1 = · · · = 1 = ξp+p } knots


1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B

Ξ := {ξ1 = 0 = · · · = 0 = ξp < ξp+1 = 1 = · · · = 1 = ξp+p } knots


1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1

Ξ := {ξ1 = 0 = · · · = 0 = ξp < ξp+1 = 1 = · · · = 1 = ξp+p } knots


1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1
0.9 0.9
0.8 0.8
0.7 0.7
0.6 0.6
0.5 0.5
0.4 0.4
0.3 0.3
0.2 0.2
0.1 0.1
0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

Ξ := {ξ1 = 0 = · · · = 0 = ξp < ξp+1 = 1 = · · · = 1 = ξp+p } knots


1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1
0.9 0.9 0.9
0.8 0.8 0.8
0.7 0.7 0.7
0.6 0.6 0.6
0.5 0.5 0.5
0.4 0.4 0.4
0.3 0.3 0.3
0.2 0.2 0.2
0.1 0.1 0.1
0 0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

Ξ := {ξ1 = 0 = · · · = 0 = ξp < ξp+1 = 1 = · · · = 1 = ξp+p } knots


1 if t ∈ [ξi , ξi+1 )
(1)
Bi,Ξ (t) :=
0 elsewhere
(p) t−ξi (p−1) ξi+p −t (p−1)

B + ξi+p −ξi+1 i+1,Ξ (t)
B
1 1 1
0.9 0.9 0.9
0.8 0.8 0.8
0.7 0.7 0.7
0.6 0.6 0.6
0.5 0.5 0.5
0.4 0.4 0.4
0.3 0.3 0.3
0.2 0.2 0.2
0.1 0.1 0.1
0 0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Bernstein polynomials

B-splines: properties ...
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B

(p) (p−1) (p−1)
Bi,Ξ (t) := ωi,p (t)Bi,Ξ (t) + (1 − ωi+1,p (t))Bi+1,Ξ (t)
t−ξi
ωi,p (t) := ξi+p−1 −ξi

(p) (p−1) (p−1)
t−ξi
ψip (τ ) := (ξi+1 − τ ) · · · (ξi+p−1 − τ ), ψi1 (τ ) = 1
ωip ψip (τ ) + (1 − ωip )ψi−1,p = (t − τ )ψi,p−1 (τ )

(p) (p−1) (p−1)
t−ξi
ψip (τ ) := (ξi+1 − τ ) · · · (ξi+p−1 − τ ), ψi1 (τ ) = 1
P (p) P (p−1) (p−1)

i ψip (τ )Bi,Ξ (t) = i ψip (τ )[(ωi,p (t)Bi,Ξ (t) + (1 − ωi+1,p (t))Bi+1,Ξ (t)] =
P (p−1)
i [ωip ψip (τ ) + (1 − ωip )ψi−1,p ]Bi,Ξ (t) =
Pn (p−1) (1)
(t) = ... = (t − τ )p−1
P
(t − τ ) i=1 ψi,p−1 (τ )Bi,Ξ i ψi,1 (τ )Bi,Ξ (t)

(p) (p−1) (p−1)
t−ξi
ψip (τ ) := (ξi+1 − τ ) · · · (ξi+p−1 − τ ), ψi1 (τ ) = 1
P (p) P (p−1) (p−1)

i ψip (τ )Bi,Ξ (t) = i ψip (τ )[(ωi,p (t)Bi,Ξ (t) + (1 − ωi+1,p (t))Bi+1,Ξ (t)] =
P (p−1)
i [ωip ψip (τ ) + (1 − ωip )ψi−1,p ]Bi,Ξ (t) =
Pn (p−1) (1)
(t) = ... = (t − τ )p−1
P
(t − τ ) i=1 ψi,p−1 (τ )Bi,Ξ i ψi,1 (τ )Bi,Ξ (t)
(p)
τ )p−1
P
(t − = i ψip (τ )Bi,Ξ (t), t ∈ [ξp , ξn+1 ]

(p)
τ )p−1
P

(p)
τ )p−1
P
Taylor exp. ⇒ Marsden’s identity:
n
(p)
X
q(t) = λip (q)Bi,Ξ (t), ∀q ∈ IPp , t ∈ [ξp , ξn+1 ]
i=1
p
X (−D)r−1 ψip (τ ) p−r
λip (f ) := D f (τ ), ψip (τ ) := (ξi+1 − τ ) · · · (ξi+p−1 − τ )
r=1
(p − 1)!

(p)
τ )p−1
P
n
(p)
X
i=1
p
r=1
(p − 1)!
1
q(t) = 1 ⇒ λip (q) = 1 ⇒ (local) p. unity
n
(p)
X
1= Bi,Ξ (t), t ∈ [ξp , ξn+1 ],
i=1
i
(p)
X
1= Br,Ξ (t), t ∈ [ξi , ξi+1 ],
r=i−p+1 0
ξ ξ ξ
i−2 i i+1

(p)
τ )p−1
P
n
(p)
X
i=1
p
r=1
(p − 1)!
ξi+1 +···+ξi+p−1
q(t) = t ⇒ λip (q) = p−1
=: ξi∗ Greville abscissas
n
(p)
X
t= ξi∗ Bi,Ξ (t), t ∈ [ξp , ξn+1 ]
i=1

(p)
τ )p−1
P
n
(p)
X
i=1
p
r=1
(p − 1)!
P (p)
SΞ,p := { j cj Bj,Ξ }
(p)
X
f (t) = λip (f )Bi,Ξ (t), ∀f ∈ SΞ,p ,
i
projector: de Boor-Fix

positivity+ (local) p. unity ⇒ (local) convex hull

curves in Rd c
i−1
p=3
n
(p)
X
C(t) := ci Bi,Ξ (t), ci ∈ Rd control points
i=1
c
i
t ∈ [ξi , ξi+1 ] ⇒ only ci−p+1 , · · · ci−1 , ci act .
c
i−2

curves in Rd c
i−1
p=3
n
(p)
X
i=1
c
i
c
i−2
3.5
scalar functions 2.5

p=4
    2
n
t X ξi∗ (p) 1.5
 =   Bi,Ξ (t),
f (t) ci c
i=1 1 6
0.5
*
ξ2
t ∈ [ξi , ξi+1 ] ⇒ only ci−p+1 , · · · , ci−1 , ci act 0
*
ξ =ξ ξ ξ =ξn=ξ
1 4 6 n+1 n+4
−0.5
0 1 2 3 4 5 6 7

curves in Rd c
i−1
p=3
n
(p)
X
i=1
c
i
Cp,Ξ c
i−2
3.5
scalar functions 2.5

p=4
    2
n
t X ξi∗ (p) 1.5
 =   Bi,Ξ (t),
f (t) ci c
i=1 1 6
0.5
*
ξ2
t ∈ [ξi , ξi+1 ] ⇒ only ci−p+1 , · · · , ci−1 , ci act 0
*
ξ =ξ ξ ξ =ξn=ξ
1 4 6 n+1 n+4
−0.5
0 1 2 3 4 5 6 7

B-splines: knots multiplicity
Given:
Ξ̂ := {ξ̂1 < ξ̂2 < · · · < ξ̂l+1 }, break − points
ν := {ν2 , · · · , νl , }, #smootness − conditions
ν
Pp, := {s : s|[ξ̂ ∈ IPp , s(j) (ξ̂i+ ) = s(j) (ξ̂i− ), j = 0, · · · , νi −1, i = 2, · · · , l} =: p.p.
Ξ̂ i ,ξ̂i+1 ]

Given:
ν
Ξ̂ i ,ξ̂i+1 ]
Put:
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }
ξ1 · · · < ξp ≤ ξ̂1 ≤ · · · ≤ ξ̂l+1 ≤ ξn+1 ≤ ξn+p
ξ̂j , occurs p − νj times in Ξ, j = 2, · · · , l

Given:
ν
Ξ̂ i ,ξ̂i+1 ]
Put:
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }
ξ1 · · · < ξp ≤ ξ̂1 ≤ · · · ≤ ξ̂l+1 ≤ ξn+1 ≤ ξn+p
(p) (p)
⇒ {B1,Ξ , · · · , Bn,Ξ } is a basis of Pp,
ν
Ξ̂
(Curry-Schoenberg)

Given:
ν
Ξ̂ i ,ξ̂i+1 ]
Put:
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }
ξ1 · · · < ξp ≤ ξ̂1 ≤ · · · ≤ ξ̂l+1 ≤ ξn+1 ≤ ξn+p
B-splines are a basis for p.p.

Given:
ν
Ξ̂ i ,ξ̂i+1 ]
Put:
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }
ξ1 · · · < ξp ≤ ξ̂1 ≤ · · · ≤ ξ̂l+1 ≤ ξn+1 ≤ ξn+p
B-splines are a basis for p.p.

(p) (p) (p) (p)
< B1,Ξ , · · · , Bn,Ξ > |[ξr ,ξr+1 ) =< Br−p+1,Ξ , · · · , Br,Ξ >≡ IPp |[ξr ,ξr+1 ) ⇒
(p) (p)
{B1,Ξ , · · · , Bn,Ξ } are locally lin. independent

B-splines: knots multiplicity ...
· · · < ξj = ξj+1 = · · · = ξj+ρi −1 < ξj+ρj , 1 ≤ ρj ≤ p multiplicity
(p)
Bi,Ξ is (at least) of class C p−ρj −1 at ξj
(p − ρj − 1 + 1) + ρj = p

(p)
(p − ρj − 1 + 1) + ρj = p
# smoothness cond. + knot multiplicity=order

(p)
(p − ρj − 1 + 1) + ρj = p
1 1 1 1
p=4 p=4 p=4 p=4
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
0 0 0 0
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7
Ξ = [0, 1, 2, 3, 4, 5, 6, 7], [0, 1, 2, 3.9, 4, 5, 6, 7], [0, 1, 2, 4, 4, 5, 6, 7], [0, 1, 2, 4, 4, 4, 6, 7]

B-splines: knot insertion
(p)
X
Ξ := {· · · ≤ ξi ≤ ξi+1 ≤ · · · } ⊂ {· · · ≤ ξi ≤ ξ̄ ≤ ξi+1 ≤ · · · } =: Ξ̄, SΞ,p := { cj Bj,Ξ }
j

(p)
X
j
SΞ,p ⊂ SΞ̄,p

(p)
X
j
SΞ,p ⊂ SΞ̄,p
(p) (p)
X X
cj Bj,Ξ = c̄j Bj,Ξ̄
j j
c̄j = γj,p cj + (1 − γj,p )cj−1



 1 ξj+p−1 ≤ ξ̄

ξ̄−ξj
γj,p := ξj < ξ̄ < ξj+p−1
 ξj+p−1 −ξj

0 ξ̄ ≤ tj


(p)
X
j
SΞ,p ⊂ SΞ̄,p
(p) (p)
X X
cj Bj,Ξ = c̄j Bj,Ξ̄
j j
c̄j = γj,p cj + (1 − γj,p )cj−1



 1 ξj+p−1 ≤ ξ̄

ξ̄−ξj
γj,p := ξj < ξ̄ < ξj+p−1
 ξj+p−1 −ξj

0 ξ̄ ≤ tj

the new c.p. interpolates the old one at the new Greville abscissas

B-splines: knot insertion ...
the new contr. pol. interpolates the old one at the new Greville abscissas

2.5
1.5
0.5
0 1 2 3 4 5 6

3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
2.5
1.5
0.5
0 1 2 3 4 5 6

3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

B-splines: iterating knot insertion

2.5
1.5
0.5
0 1 2 3 4 5 6

3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
2.5
1.5
0.5
0 1 2 3 4 5 6

3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

B-splines: iterating knot insertion corner cutting
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

the finer the knot sequence, the closer is the control polygon to the function being represented
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

kf − Cp,Ξ k ≤ const|Ξ|2 kD2 f k,

|Ξ| := max(ξi+1 − ξi )
i


|Ξ| := max(ξi+1 − ξi )
i
⇓
convergence under knot refinement


|Ξ| := max(ξi+1 − ξi )
i
CAGD: knot insertion/knot refinement

l
Isogeometric Analysis: h-refinement


|Ξ| := max(ξi+1 − ξi )
i
CAGD: knot insertion/knot refinement

l
Isogeometric Analysis: h-refinement
knot refinement: successive convex combinations

B-splines: more on knot insertion
(p)
X
j

(p)
X
j
P (p) P (p)
j c j B j,Ξ = j c̄j Bj,Ξ̄ , c̄j = γj,p cj + (1 − γj,p )cj−1 ,
⇓
# sign ch. (...c̄j ...) ≤ # sign ch. (..., cj , ...).

(p)
X
j
P (p) P (p)
⇓
# sign ch. (...c̄j ...) ≤ # sign ch. (..., cj , ...). 1
0.9
p=4
0.8
x := ξi = ξi+1 = · · · = ξi+p−2 < ξi+p−1 0.7
0.6
0.5
⇓ 0.4
0.3
0.2
0.1
P (p) (p)
c B
j j j,Ξ (x) = c i−1 i−1,Ξ (x) = ci−1
B 0
0 1 2 3 4 5 6 7

(p)
X
j
P (p) P (p)
⇓
0.9
p=4
0.8
x := ξi = ξi+1 = · · · = ξi+p−2 < ξi+p−1 0.7
0.6
0.5
⇓ 0.4
0.3
0.2
0.1
P (p) (p)
c B
j j j,Ξ (x) = c i−1 i−1,Ξ (x) = ci−1
B 0
0 1 2 3 4 5 6 7
evaluation at t = x :
insert x in Ξ p − 1 times and take the coeff.

(p)
X
j
P (p) P (p)
⇓
0.9
p=4
0.8
x := ξi = ξi+1 = · · · = ξi+p−2 < ξi+p−1 0.7
0.6
0.5
⇓ 0.4
0.3
0.2
0.1
P (p) (p)
c B
j j j,Ξ (x) = c i−1 i−1,Ξ (x) = ci−1
B 0
0 1 2 3 4 5 6 7
evaluation at t = x :
insert x in Ξ p − 1 times and take the coeff.
(p)
# sign ch. ( j cj Bj,Ξ (t))≤ # sign ch. (..., cj , ...)
P

B-splines: B-basis
(p) (p)
B1,Ξ · · · Bn,Ξ is a Totally Positive basis for SΞ,p

B-splines: B-basis
(p) (p)
(p) (p)
B1,Ξ · · · Bn,Ξ is the normalized B-basis for SΞ,p

B-splines: B-basis
(p) (p)
(p) (p)
any collocation matrix is TP

optimal geometric and computational properties

B-splines: B-basis
(p) (p)
(p) (p)
any collocation matrix is TP

optimal geometric and computational properties
all the given properties can be obtained by blossoms

B-splines: degree elevation
IPp ⊂ IPp+1

IPp ⊂ IPp+1
Ξ := {· · · < ξr = · · · = ξr+ρr −1 < · · · } ⊂ {· · · < ξr = · · · = ξr+ρr < · · · } =: Ξ̄

IPp ⊂ IPp+1
Ξ := {· · · < ξr = · · · = ξr+ρr −1 < · · · } ⊂ {· · · < ξr = · · · = ξr+ρr < · · · } =: Ξ̄
SΞ,p ⊂ SΞ̄,p+1
i+p
(p) 1 X (p+1)
Bi,[ξi ,··· ,ξi+p ] = Br,[ξi ,··· ,ξr ,ξr ,···ξi+p ]
p
r=i

IPp ⊂ IPp+1
Ξ := {· · · < ξr = · · · = ξr+ρr −1 < · · · } ⊂ {· · · < ξr = · · · = ξr+ρr < · · · } =: Ξ̄
SΞ,p ⊂ SΞ̄,p+1
i+p
(p) 1 X (p+1)
Bi,[ξi ,··· ,ξi+p ] = Br,[ξi ,··· ,ξr ,ξr ,···ξi+p ]
p
r=i
1 1 1 1
0.9 0.9 0.9 0.9
0.8 0.8 0.8 0.8
0.7 0.7 0.7 0.7
0.6 0.6 0.6 0.6
0.5 0.5 0.5 0.5
0.4 0.4 0.4 0.4
0.3 0.3 0.3 0.3
0.2 0.2 0.2 0.2
0.1 0.1 0.1 0.1
2 = + +
0 0 0 0
0 0.5 1 1.5 2 0 0.5 1 1.5 2 0 0.5 1 1.5 2 0 0.5 1 1.5 2

B-splines: iterating degree elevation
repeated degree elevation leads to a sequence of control. pol. that converges to the spline

1
kf − Cm,Ξ̄ k = O , f ∈ SΞ,p , m > p
m


1
kf − Cm,Ξ̄ k = O , f ∈ SΞ,p , m > p
m
⇓
convergence under degree elevation


1
kf − Cm,Ξ̄ k = O , f ∈ SΞ,p , m > p
m
CAGD: degree elevation/degree raising
Isogeometric Analysis: p-refinement


1
kf − Cm,Ξ̄ k = O , f ∈ SΞ,p , m > p
m
CAGD: degree elevation/degree raising
Isogeometric Analysis: p-refinement
degree elevation: blossoms

B-splines
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
Derivatives:
P (p) P ci −ci−1 (p−1)
D( i ci Bi,Ξ (t)) = i (p − 1) ξi+p−1 −ξi i,Ξ (t)
B
(p) 1 (p−1) 1 (p−1)
(Bi,Ξ )0 (t) = (p − 1)[ ξi+p−1 −ξi Bi,Ξ (t) − ξi+p −ξi+1 i+1,Ξ (t)]
B

B-splines
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
Derivatives:
P (p) P ci −ci−1 (p−1)
B
(p) 1 (p−1) 1 (p−1)
B
linear quadratic cubic
2−fold 3−fold 4−fold
B
B
DB
DB
D2B 2
D B

B-splines
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
Derivatives:
P (p) P ci −ci−1 (p−1)
B
(p) 1 (p−1) 1 (p−1)
B
Integral recurrence relation:

(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
Bi (t) = −∞ δi,Ξ Bi,Ξ (s)ds − −∞ δi+1,Ξ Bi+1,Ξ (s)ds
(p) 1
δi,Ξ := R (p)
+∞
−∞ Bi,Ξ (s)ds

B-splines
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
Derivatives:
X (p+1)
X ci − ci−1 (p)
D( ci Bi,Ξ (t)) = p Bi,Ξ (t)
ξi+p − ξi
i i

B-splines
(p) t−ξi (p−1) ξi+p −t (p−1)
B + ξi+p −ξi+1 i+1,Ξ (t)
B
Derivatives:
X (p+1)
X ci − ci−1 (p)
D( ci Bi,Ξ (t)) = p Bi,Ξ (t)
ξi+p − ξi
i i
Integration:
 
Z tX n r−1 i
(p)
X X ξp+j − ξj  (p+1)
ci Bi,Ξ (s)ds =  cj Bi,Ξ (t)
ξ1 i=1 p
i=1 j=1
ξ1 ≤ t ≤ ξ r

Tensor-product B-splines surfaces
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }, Υ := {υ1 ≤ υ2 ≤ · · · ≤ υm+q }
n,m
(p) (q)
X
S(u, v) = ci,j Bi,Ξ (u)Bi,Υ (v)
i=1,j=1

Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }, Υ := {υ1 ≤ υ2 ≤ · · · ≤ υm+q }
n,m
(p) (q)
X
i=1,j=1

Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }, Υ := {υ1 ≤ υ2 ≤ · · · ≤ υm+q }
n,m
(p) (q)
X
i=1,j=1
−1
−2
−3
−4
5
0 25
10 15 20
−5 0 5

NURBS : Non Uniform Rational B-Splines
(p)
Given {Bi,Ξ (t), i = 1, · · · }, W := {wi ≥ 0, i = 1, · · · }, weights
(p)
(p) wi Bi,Ξ (t)
Ri,Ξ,W (t) := P (p)
n
j=1 wi Bi,Ξ (t)
NURBS: projective transformation of B-splines

NURBS : Non Uniform Rational B-Splines
(p)
Given {Bi,Ξ (t), i = 1, · · · }, W := {wi ≥ 0, i = 1, · · · }, weights
(p)
(p) wi Bi,Ξ (t)
Ri,Ξ,W (t) := P (p)
n
j=1 wi Bi,Ξ (t)
NURBS: projective transformation of B-splines

positivity
p. of unity
compact support
smoothness
...

NURBS : ...
quadratic NURBS exactly represent (segments of) conic
sections
1−t2
Ex. unit circle 2t 1
,
1+t 1+t2
2
0.8
0.6
0.4
0.2
−0.2 0 0.2 0.4 0.6 0.8 1 1.2

NURBS : ...
sections
1−t2
,
1+t 1+t2
2
0.8
0.6
0.4
0.2
−0.2 0 0.2 0.4 0.6 0.8 1 1.2
NURBS possess nice properties of B-splines and allow

exact description of the geometry for a large set of objects
of practical interest

NURBS : ...
sections
1−t2
,
1+t 1+t2
2
0.8
0.6
0.4
0.2
−0.2 0 0.2 0.4 0.6 0.8 1 1.2
NURBS possess nice properties of B-splines and allow

exact description of the geometry for a large set of objects
of practical interest
⇓
NURBS are an efficient tool for Isogeometric Analysis

NURBS: parametrization of conic sections ...
1
0.8
0.6
0.4
0.2

0
1−t2 2t
−0.2
1+t2
, 1+t 2 : 200 “equispaced” points
−0.4
−0.6
−0.8
−1
−1 −0.5 0 0.5 1

1
0.8
0.6
0.4
0.2

0
1−t2 2t
−0.2
1+t2
, 1+t 2 : 200 “equispaced” points
−0.4
−0.6
−0.8
−1
−1 −0.5 0 0.5 1
1
0.8
0.6
0.4
0.2
−0.2 (sin(t), cos(t)) : 200 equispaced points

−0.4
−0.6
−0.8
−1
−1 −0.5 0 0.5 1

1
0.8
0.6
0.4
0.2
−0.2 NURBS parametrization t ∈ [0, 1] :

−0.4 100 “equispaced” points
−0.6
−0.8
−1
−1 −0.5 0 0.5 1

1
0.8
0.6
0.4
0.2

−0.6
−0.8
−1
−1 −0.5 0 0.5 1
1
0.8
0.6
0.4
0.2

−0.4
−0.6
−0.8
−1
−1 −0.5 0 0.5 1

1
0.8
0.6
0.4
0.2

−0.6
−0.8
−1
−1 −0.5 0 0.5 1
1
0.8
0.6
0.4
0.2

−0.4
−0.6
−0.8
−1
−1 −0.5 0 0.5 1
only straight lines have rational repres. w.r.t. arc length

Drawbacks of the rational model

rational curves require additional parameters (weights)
whose selection is often not clear

the derivative of a degree-p integral curve is of degree
p − 1: the derivative of a degree-p rational curve is of
degree 2p...

degree 2p...
exact integration of rational curves is hard and requires
(whenever possible) non rational forms

degree 2p...
the rational model cannot encompass transcendental
curves: many of them (helix, cicloid, ...) are of interest in
applications

degree 2p...
the rational model cannot encompass transcendental
curves: many of them (helix, cicloid, ...) are of interest in
applications
parametrization of conic sections does not correspond to
natural arc-length parametrization: unevenly spaced
points


rational model
IPp → B − splines → NURBS

rational model
alternative < 1, t, · · · , tp−3 , tp−2 , tp−1 >

↓
< 1, t, · · · , tp−3 , u(t), v(t) > =: IPu,v
p , p≥4

rational model

↓
< 1, t, · · · , tp−3 , u(t), v(t) > =: IPu,v
p , p≥4
select IPu,v
p to exactly represent salient profiles

rational model

↓
< 1, t, · · · , tp−3 , u(t), v(t) > =: IPu,v
p , p≥4
select IPu,v
construct a basis of IPu,v
p analogous to Bernstein
polynomials (B-basis)

rational model

↓
< 1, t, · · · , tp−3 , u(t), v(t) > =: IPu,v
p , p≥4
select IPu,v
construct a basis of IPu,v
p analogous to Bernstein
polynomials (B-basis)
construct spline spaces with sections in IPu,v
p with
suitable bases for them (analogous to B-splines)

Alternatives to the rational model...
natural choices
IPu,v
p :=< 1, t, · · · , t p−3
, cos ωt, sin ωt >,
IPu,v
p :=< 1, t, · · · , t p−3
, cosh ωt, sinh ωt >,
conic sections, helix, cicloid ...

IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]

IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]
< u(p−2) , v (p−2) >Tchebycheff in [0, 1] (∀ element6= 0 has at most 1 zero)

IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]

⇓
p has Bernstein-like basis (B-basis=optimal)

IPu,v

IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]

⇓

IPu,v
Ex:
(u, v) = (cos ωt, sin ωt), 0 < ω < π
(u, v) = (cosh ωt, sinh ωt), 0 < ω
....

IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]

⇓

IPu,v
Ex:
(u, v) = (cos ωt, sin ωt), 0 < ω < π
....
TRIG
1
0.9
p=4
0.8
ω=π/4
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1

IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]

⇓

IPu,v
Ex:
(u, v) = (cos ωt, sin ωt), 0 < ω < π
....
TRIG EXP
1 1
0.9 0.9
p=4 p=4
0.8
ω=π/4 0.8 ω=10
0.7 0.7
0.6 0.6
0.5 0.5
0.4 0.4
0.3 0.3
0.2 0.2
0.1 0.1
0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

IPp :
u,v
Bernstein-like basis
IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]

IPp :
u,v
IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]
recurrence relation

IPp :
u,v
IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]
recurrence relation 1
TRIG
ω=π/2
(2) (2) 0.9
B1,u,v , B2,u,v unique elements in < u(p−2) , v (p−2) > s.t. 0.8
0.7
0.6
0.5
0.4
(2) (2) (2) (2)

B1,u,v (0) = 1, B1,u,v (1) = 0, B1,u,v (0) = 0, B1,u,v (1) =1
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1
(p) R1 (p)
δi,u,v := 0 Bi,u,v (t)dt.
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
Bi,u,v (t) := 0 Bi−1,u,v (t)ds/δi−1,u,v − 0 Bi,u,v (t)ds/δi,u,v ,

IPp :
u,v
IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]
TRIG
ω=π/2
(2) (2) 0.9
0.7
0.6
0.5
0.4
(2) (2) (2) (2)

B1,u,v (0) = 1, B1,u,v (1) = 0, B1,u,v (0) = 0, B1,u,v (1) =1
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1
(p) R1 (p)
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
Bernstein p.
"R #
t (p−1) Rt (p−1)
(p) 0 Bi−1 (s)ds 0 Bi (s)ds
Bi (t) = R 1 (p−1) − R 1 (p−1)
0 Bi−1 (t)dt 0 Bi (t)dt

IPp :
u,v
IPu,v
p :=< 1, t, · · · , t p−3 , u(t), v(t) >, p ≥ 3 t ∈ [0, 1]
TRIG
ω=π/2
(2) (2) 0.9
0.7
0.6
0.5
0.4
(2) (2) (2) (2)

B1,u,v (0) = 1, B1,u,v (1) = 0, B1,u,v (0) = 0, B1,u,v (1) =1
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1
(p) R1 (p)
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
degree raising
p p+1
(p) (p+1)
X X
u,v u,v
IPp ⊂ IPp+1 ⇒ pi Bi,u,v (t) = p̂i Bi,u,v (t)
i=1 i=1
(p)
D (i−1) Bi,u,v (0)
p̂i := θi pi + (1 − θi )pi−1 , θi := (p+1)
D (i−1) Bi,u,v (0)

(Generalized) B-splines
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }, Ω := {..., ωi , ....}, TRIG.: ωi < π
ξi+1 −ξi

sin ωi (t−ξi )

 sin ωi (ξi+1 −ξi )
 if t ∈ [ξi , ξi+1 )
(2)
Bi,Ω,Ξ (t) := sinsinω ω(ξi (ξi+2 −t)
if t ∈ [ξi+1 , ξi+2 )
 i i+2 −ξi+1 )

 0 elsewhere
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
Bi,Ω,Ξ (t) = −∞ i,Ω,Ξ Bi,Ω,Ξ (s)ds
δ − −∞ δi+1,Ω,Ξ Bi+1,Ω,Ξ (s)ds
(p) 1
δi,Ω,Ξ := R (p)
+∞
−∞ Bi,Ω,Ξ (s)ds

ξi+1 −ξi

sin ωi (t−ξi )

 if t ∈ [ξi , ξi+1 )
(2)
if t ∈ [ξi+1 , ξi+2 )
 i i+2 −ξi+1 )

 0 elsewhere
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
(p) 1
δi,Ω,Ξ := R (p)
+∞
B-splines
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
Bi (t) = −∞ i,Ξ Bi,Ξ (s)ds
δ − −∞ δi+1,Ξ Bi+1,Ξ (s)ds
(p) 1
δi,Ξ := R (p)
+∞
−∞ Bi,Ξ (s)ds

ξi+1 −ξi

sin ωi (t−ξi )

 if t ∈ [ξi , ξi+1 )
(2)
if t ∈ [ξi+1 , ξi+2 )
 i i+2 −ξi+1 )

 0 elsewhere
(p) Rt (p−1) (p−1) Rt (p−1) (p−1)
(p) 1
δi,Ω,Ξ := R (p)
+∞
TRIG EXP EXP

1 1 1
0.9
p=4
0.9 p=4 0.9
p=4
0.8 ω =pi/2 0.8
ω =i 0.8 ωi=i
i i
0.7 0.7 0.7
0.6 0.6 0.6
0.5 0.5 0.5
0.4 0.4 0.4
0.3 0.3 0.3
0.2 0.2 0.2
0.1 0.1 0.1
0 0 0
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

(Generalized) B-splines ...
(p)
{Bi,Ω,Ξ (t), i = 1, · · · },
properties

(p)
{Bi,Ω,Ξ (t), i = 1, · · · },
properties
positivity
p. of unity
compact support
smoothness
derivative
local linear independence
...

(p)
{Bi,Ω,Ξ (t), i = 1, · · · },
properties
positivity
p. of unity
compact support
smoothness
derivative
...
shape properties {..., ωi , ...}

(p)
{Bi,Ω,Ξ (t), i = 1, · · · }, 2
EXP
1.8
properties 1.6
positivity
1.4
ω =2
5
1.2
p. of unity 1
0.8
compact support 0.6
0.4
smoothness 0.2
derivative
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5

...
shape properties {..., ωi , ...}

(p)
{Bi,Ω,Ξ (t), i = 1, · · · }, 2
EXP
1.8
properties 1.6
positivity
1.4
ω =2
5
1.2
p. of unity 1
0.8
compact support 0.6
0.4
smoothness 0.2
derivative
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
2

1.8
1.6
... 1.4
1.2
shape properties {..., ωi , ...} 1
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5

(p)
{Bi,Ω,Ξ (t), i = 1, · · · },
(p) (p)
ωi → 0 ⇒ Bi,Ω,Ξ (t) → Bi,Ξ (t)

(p)
{Bi,Ω,Ξ (t), i = 1, · · · },
(p) (p)
ωi → 0 ⇒ Bi,Ω,Ξ (t) → Bi,Ξ (t)
unified treatment by complex arithmetic

(p)
{Bi,Ω,Ξ (t), i = 1, · · · },
(p) (p)
ωi → 0 ⇒ Bi,Ω,Ξ (t) → Bi,Ξ (t)
unified treatment by complex arithmetic
trig. and exponent. parts can be mixed

(Generalized) B-splines: knot insertion
(p)
X
Ξ := {· · · ≤ ξi < ξi+1 ≤ · · · } ⊂ {· · · ≤ ξi ≤ ξ̄ < ξi+1 ≤ · · · } =: Ξ̄, SΞ,Ω,p := { cj Bj,Ξ,Ω }
j

(Generalized) B-splines: knot insertion
(p)
X
Ξ := {· · · ≤ ξi < ξi+1 ≤ · · · } ⊂ {· · · ≤ ξi ≤ ξ̄ < ξi+1 ≤ · · · } =: Ξ̄, SΞ,Ω,p := { cj Bj,Ξ,Ω }
j
SΞ,Ω,p ⊂ SΞ̄,Ω,p
(p) (p)
X X
cj Bj,Ω,Ξ = c̄j Bj,Ω,Ξ̄
j j
c̄j = γj,p cj + (1 − γj,p )cj−1


1 j ≤i−p 
1 j≤i


 
 δ(p−1)
 

j,Ω,Ξ sin ωi (ξ̄−ξi )
γj,p := (p−1) γj,p−1 i − p < j < i − r + 1 γj,2 := j=i

 δ
j,Ω,Ξ̄
 sin ωi (ξi+1 −ξi )

0 j ≥i+1

 
0 j ≥i−r+1

r mult. of ξ̄ in Ξ

Tensor-product (Generalized) B-splines surfaces
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }, Υ := {υ1 ≤ υ2 ≤ · · · ≤ υm+q }, Ω := {...ωi ...}, Λ := {...λj ...}
n,m
(p) (q)
X
S(s, t) = ci,j Bi,Ω,Ξ (s)Bi,Λ,Υ (t)
i=1,j=1

Tensor-product (Generalized) B-splines surfaces
Ξ := {ξ1 ≤ ξ2 ≤ · · · ≤ ξn+p }, Υ := {υ1 ≤ υ2 ≤ · · · ≤ υm+q }, Ω := {...ωi ...}, Λ := {...λj ...}
n,m
(p) (q)
X
S(s, t) = ci,j Bi,Ω,Ξ (s)Bi,Λ,Υ (t)
i=1,j=1
(s cos(t), s sin(t), t) helicoid

Conclusion
NURBS are a powerful tool in Isogeometric analysis due
to their ability to exactly represent profiles of interest in
applications and to the wealth of efficient algorithms for
their manipulation

Conclusion
their manipulation
NURBS are not a requisite ingredient in Isogeometric analysis


Conclusion
their manipulation
NURBS are not a requisite ingredient in Isogeometric analysis

Generalized (trigonometric/hyperbolic) B-splines could

offer a possible alternative to the rational model

References: Bernstein p. & B-splines
Hoschek, J., D. Lasser, Fundamentals of Computer Aided Geometric Design, A K
Peters, (1993)
de Boor, C.; A Practical Guide to Spline, Springer, Revised edition, (2001)
Prautzsch, H., Boehem, W., Paluszny, M.; Bézier and B-spline Techniques,
Springer (2002)
Schumaker, L.L.; Spline Functions: Basic Theory, third edition, Cambridge U. P.,
(2007)
MATLAB: Spline Toolbox
...

References: B-bases
Karlin, S., Total Positivity Stanford University Press, Stanford, (1968)
de Boor, C.; Pinkus, A.: The approximation of a totally positive band matrix by a
strictly banded totally positive one. Linear Algebra Appl. (1982),
Ando T., Totally positive matrices, Linear Algebra Appl. (1987),
Carnicer, J. M.; Peña, J. M. Shape preserving representations and optimality of the
Bernstein basis. Adv. Comput. Math. (1993),
Carnicer J.M., Peña J.M.: Totally positive bases for shape preserving curve design
and optimality of B-splines. CAGD(1994)
Rida T. Farouki, Tim N. T. Goodman: On the optimal stability of the Bernstein
basis. Math. Comput. (1996).
Mazure, M. L., Chebyshev–Bernstein bases, CAGD, (1999)
Peña J.M. (ed.): Shape Preserving Representations in Computer-Aided Geometric
Design. Nova Science Publishers, Inc., (1999)
Goodman, T.N.T., M. L. Mazure, Blossoming beyond extended Chebyshev
spaces,J. approx. Th. (2001)
...
References: alternative to the rational model
Koch, P. E. and T. Lyche, Interpolation with exponential B-splines in tension, (1993)
Pottmann, H.,Wagner, M.G., Helix splines as example of affine Tchebycheffian
splines, Adv. Comput.Math. (1994)
Kvasov B., Sattayatham P.; GB-splines of arbitrary order, J. Comput. Appl. Math.
(1999)
Mainar, E., J. M. Peña and J. Sánchez-Reyes, Shape Preserving alternatives to
the rational Bézier model, CAGD, (2001)
Carnicer, J. M., Mainar, E., Pe na, J. M. , Critical length for design purposes and
Extended Chebyshev spaces. Const. Approx. (2004)
Costantini P., Lyche T., Manni, C.; On a class of weak Tchebycheff systems, Num.
Math. (2005)
Zhang, J.,Krause F., Zhang, H., Unifying C-curves and H-curves by extending the
calculation to complex numbers , CAGD (2005)
Wang, G., Fang M., Unified and extended form of three types of splines JCAM,
(2008)
... end
Quasi-interpolation
quasi-interpolation: general approach to construct, with
low computational cost, efficient local approximants to a
given data set/function

Quasi-interpolation
P
f→ i λi (f )ϕi
{ϕ1 , · · · , ϕm } positive p.unity → stability,
{ϕ1 , · · · , ϕm } local support → local control
λi (f ) : depends on f and on its derivatives/integrals

Quasi-interpolation
P
f→ i λi (f )ϕi
q.i. based on B-splines/NURBS/Generalized B-splines

are widely studied

Quasi-interpolation
P
f→ i λi (f )ϕi
q.i. based on B-splines/NURBS/Generalized B-splines

are widely studied
q.i. could be a useful tool in Isogeometric analysis
(boundary conditions, error estimates, ...)

References: Quasi-interpolation
de Boor, C., The quasi-interpolant as a tool in elementary polynomial spline theory,
in Approximation theory I, 1973
Lyche, T.; Schumaker, L. L., Local spline approximation methods, J. Approximation
Theory 15 (1975)
Chui, C.K., Lai, M-J. A multivariate analog of Marsden’s identity and a
quasi-interpolation scheme, Constr. Approx. (1987)
Sablonnière, P.; Recent progress on univariate and multivariate polynomial or
spline quasi-interpolants, in Trends and Applications in Constructive Approximation, 2005.
Lyche, T.;Manni, C., Sablonnière, P.; Quasi-interpolation Projectors for Box Splines
JCAM, (2008)
...

GRAZIE per l’ATTENZIONE!

GRAZIE per l’ATTENZIONE!

A Short Review of Cagd Tools For Isogeometric Analysis

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A SHORT REVIEW of CAGD TOOLS for

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.1/56

a method for the analysis of problems governed by PDE:

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

a method for the analysis of problems governed by PDE:

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

a method for the analysis of problems governed by PDE:

[J.A. Cottrell , T.J.R. Hughes, Y. Bazilevs, CMAME, 2005]

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

a method for the analysis of problems governed by PDE:

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

a method for the analysis of problems governed by PDE:

[J.A. Cottrell , T.J.R. Hughes, Y. Bazilevs, CMAME, 2005]

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

a method for the analysis of problems governed by PDE:

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

a method for the analysis of problems governed by PDE:

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.2/56

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

[J.A. Cottrell , T.J.R. Hughes, Y. Bazilevs, CMAME, 2005]

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

h−refinement, [J.A. Cottrell , T.J.R. Hughes, Y. Bazilevs, CMAME, 2005]

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

[J.A. Cottrell , T.J.R. Hughes, A. Reali, CMAME, 2007]

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

existence of efficient and stable algorithms for evaluation

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

several efficient possibilities of refinement

existence of efficient and stable algorithms for evaluation

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.3/56

present basic algorithms/properties of B-splines of salient

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.4/56

present basic algorithms/properties of B-splines of salient

propose a possible alternative to the rational (NURBS)

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.4/56

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.5/56

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.5/56

Alternatives to the rational model

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.5/56

B-spline functions/curves/surfaces are NOT special

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.6/56

B-spline functions/curves/surfaces are NOT special

B-splines are a special form to represent any p.p.

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.6/56

B-spline functions/curves/surfaces are NOT special

B-splines are a special form to represent any p.p.

Why are B-splines so popular?

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.6/56

B-spline functions/curves/surfaces are NOT special

B-splines are a special form to represent any p.p.

Why are B-splines so popular?

A SHORT REVIEW of CAGD TOOLS for ISOGEOMETRIC ANALYSIS – p.6/56

B-spline functions/curves/surfaces are NOT special

B-splines are a special form to represent any p.p.