Hiroyuki Kano Hiroaki Nakata Clyde F. Martin Optimal curve fitting and smoothing using normalized uniform B-splines: a tool for studying complex systems. 96-128 2005 169 Applied Mathematics and Computation 1 http://dx.doi.org/10.1016/j.amc.2004.10.034 db/journals/amc/amc169.html#KanoNM05