The theory of univariate splines began its rapid development in the early sixties, resulting in several thousand research papers and a number of books. This development was largely over by 1980, and the bulk of what is known today was treated in the classic monographs of deBoor [Boo78] and Schu- maker [Sch81]. Univariate splines have become an essential tool in a wide variety of application areā¦