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Sablonnière 2003
Sablonnière 2003
Sablonnière 2003
Torino
Vol. 61, 3 (2003)
Splines and Radial Functions
P. Sablonnière∗
In this paper, we continue the study of some C 1 quadratic (or d-quadratic) spline dis-
d
crete quasi-interpolant (dQIs) on bounded domains P ⊂ R , d = 1, 2, 3 initiated in
[36]. These operators are of the form Q f (x) = k∈K () µk ( f )Bk (x), where K ()
is the set of indices of B-splines Bk P whose support is included in the domain and
µk ( f ) is a discrete linear functional i∈I (r) λk (i ) f (x i+k ), with I (r ) = Zd ∩ [−r, r ]d
for r ∈ N fixed (and small). The data points x j are vertices of a uniform or nonuniform
partition of the domain where the function f is to be approximated. Such operators
have been widely studied in recent years (see e.g. [4], [6]-[11],[14], [23], [24], [31],
[38], [40] ), but in general, except in the univariate or multivariate tensor-product cases,
they are defined on the whole space Rd : here we restrict our study to bounded domains
and to C 1 quadratic spline dQIs. Their main interest lies in the fact that they provide
approximants having the best approximation order and small norms while being easy
to compute. They are particularly useful as initial approximants at the first step of a
multiresolution analysis. First, we study univariate dQIs on uniform and non-uniform
meshes of a bounded interval of the real line (Section 2) or on bounded rectangles of
the plane with a uniform or non-uniform criss-cross triangulation (Section 3). We use
∗ The author thanks very much prof. Catterina Dagnino, from the Dipartimento di Matematica
dell’Università di Torino, and the members of the italian project GNCS on spline and radial functions, for
their kind invitation to the Giornate di Studio su funzioni spline e funzioni radiali, held in Torino in February
6-7, 2003, where this paper was presented by the author.
229
230 P. Sablonnière
1
2n = {θ0 = x 0 , θi = (x i−1 + x i ), f or 1 ≤ i ≤ n, θn+1 = x n }.
2
The simplest dQI associated with 2n is the Schoenberg-Marsden operator (see e.g.
[25], [36]):
n+1
X
S1 f := f (θi )Bi
i=0
Pn 1 2
This operator is exact on P1 . Moreover S1 e2 = e2 + i=1 4 h i Bi . We have studied in
[1] and [36] the unique dQI of type
n
X
S2 f = f (x 0 )B0 + µi ( f )Bi + f (x n )Bn+1
i=1
and which is exact on the space P2 of quadratic polynomials. Using the following
notations and the convention h 0 = h n+1 = 0, we finally obtain, for 1 ≤ i ≤ n:
hi h i−1
σi = , σi0 = = 1 − σi ,
h i−1 + h i h i−1 + h i
0
σi2 σi+1 0 )2
σi (σi+1
0
ai = − 0 , bi = 1 + σi σi+1 , ci = − 0 .
σi + σi+1 σi + σi+1
Defining the fundamental functions of S2 by
B̃0 = B0 + a1 B1 ,
B̃i = ci−1 Bi−1 + bi Bi + ai+1 Bi+1 , 1 ≤ i ≤ n,
B̃n+1 = cn Bn + Bn+1 ,
In [26] (see also [22] and [32], chapter 3), Marsden proved the existence of a unique
Lagrange interpolant L f in S2 (X) satisfying L f (θi ) = f (θi ) for 0 ≤ i ≤ n + 1. He
also proved the following
Now, we will prove a similar result for the dQI S2 defined above. It is well known
that thePinfinite norm of S2 is equal to the Chebyshev norm of the Lebesgue function
n+1
32 = i=0 | B̃i | of S2 .
T HEOREM 2. For f bounded on I and for any partition X of I , the infinite norm
of the dQI S2 is uniformly bounded by 2.5.
Proof. Each function | B̃i | being bounded above by the continuous quadratic spline
B̄i whose
Pn+1BB-coefficients are absolute values of those of B̃i , we obtain 32 ≤
3̄2 = i=0 B̄i . So, we have to find an upper bound of 3̄2 . First, we need the
BB-coefficients of the fundamental functions: they are computed as linear combi-
nations of the BB-coefficients of B-splines. In order to avoid complicated nota-
tions, we denote by [a, b, c] the triplet of BB-coefficients of the quadratic polynomial
a(1 − u)2 + 2bu(1 − u) + cu 2 for u ∈ [0, 1]. Any function g ∈ S2 (X) can be writ-
ten in this form on each interval [x i−1 , x i ], 1 ≤ i ≤ n, with the change of variable
u = (x − x i−1 )/ h i . So, the BB-coefficients of g consist of a list of n triplets. Let us
denote by L(i ) the list associated with the function B̃i (we do not write the triplets of
null BB-coefficients). Setting, for 1 ≤ i ≤ n − 1:
0 0
di = ci σi+1 + bi+1 σi+1 , ei = bi σi+1 + ai+1 σi+1 ,
232 P. Sablonnière
Now, we consider the case of a uniform partition, say with integer nodes for sim-
plification (e.g. I = [0, n], X = {0, 1, . . . , n}). In that case, we have
1
σ1 = 1, σ10 = 0; σi = σi0 = 0
f or 2 ≤ i ≤ n; σn+1 = 0, σn+1 = 1,
2
from which we deduce:
1 3 1
a1 = c n = − , b1 = b n = , c1 = a n = − ,
3 2 6
and, for 2 ≤ i ≤ n − 1:
1 5
ai = c i = − , bi = .
8 4
It is easy to see that, in order to compute kS2 k∞ , it suffices to evaluate the maximum
of the Lebesgue function on the subinterval J = [0, 4]. Here are the lists L(i ) of the
BB-coefficients of the fundamental functions { B̃i , 0 ≤ i ≤ 6} whose supports have
at least a common subinterval with J . As in the nonuniform case, we only give the
triplets associated with subintervals of supp( B̃i ) ∩ J :
1 1 1
supp( B̃0) ∩ J = [0, 2], L(0) = 1, − , − , − , 0, 0
3 6 6
3 11 11 1 1 1
supp( B̃1) ∩ J = [0, 3], L(1) = 0, , , ,− ,− , − , 0, 0 ,
2 16 16 8 16 16
1 13 13 5 9 9 1 1
supp( B̃2) ∩ J = [0, 4], L(2) = 0, − , , , , , ,− ,− ,
6 24 24 4 16 16 8 16
1
− , 0, 0 ,
16
1 1 1 9 9 5 9
supp( B̃3) ∩ J = [0, 2], L(3) = 0, 0, − , − ,− , , , , ,
16 16 8 16 16 4 16
9 1 1
,− ,− ,
16 8 16
1 1 1 9 9 5 9
supp( B̃4) ∩ J = [1, 4], L(4) = 0, 0, − , − ,− , , , , ,
16 16 8 16 16 4 16
1 1 1 9
supp( B̃5) ∩ J = [2, 4], L(5) = 0, 0, − , − ,− , ,
16 16 8 16
1
supp( B̃6) ∩ J = [3, 4], L(6) = 0, 0, − ,
16
Drawing 32 reveals that the abscissa x̄ of its maximum lies in the interval [0.6, 1]. In
this interval, we obtain successively:
10 35
32 (x) = − B̃0 (x) + B̃1 (x) + B̃2 (x) − B̃3 (x) = −(1 − x)2 + x(1 − x) + x 2
3 24
234 P. Sablonnière
305
kS2 k∞ = k32 k∞ = 32 (x̄) = ≈ 1.4734.
207
Now, we will give some bounds for the error f − S2 f . Using the fact that the dQI
S2 is exact on the subspace P2 ⊂ S2 of quadratic polynomials and a classical result
of approximation theory (see e.g. [17], chapter 5), we have for all partitions X of I in
virtue of Theorem 4:
k f − S2 f k∞ ≤ (1 + kS2 k∞ ) di st ( f, S2 )∞ ≤ 3.5 di st ( f, S2 )∞
So, the approximation order is that of the best quadratic spline approximation. For
example, from [17], we know that for any continuous function f
di st ( f, S2 )∞ ≤ 3 ω( f, h)∞
k f − S2 f k∞ ≤ 10.5 ω( f, h)∞
But a direct study allows to decrease the constant in the right-hand side.
k f − S2 f k∞ ≤ 6 ω( f, h)∞
p+2
X
(1.5 + | p − i |) B̄i (x) ≤ 6
i= p−2
so, we obtain finally a lower constant (but not the best one) in the right-hand side of
the previous inequality:
k f − S2 f k∞ ≤ 6 ω( f, h)∞
T HEOREM 5. For all function f ∈ C 3 (I ) and for all partitions X of I , the follow-
ing error estimate holds, with C 0 ≤ 1:
k f − S2 f k∞ ≤ C0 h 3 k f (3) k∞
Proof. Given x ∈ I p fixed and t ∈ [x p−3 , x p+2 ], we use the Taylor formula with
integral remainder
Z t
1 1
0
f (t) = f (x) + (t − x) f (x) + (t − x)2 f 00 (x) + (t − s)2 f (3) (s)ds
2 2 x
n+1
X n+1
X
S2 p1(t) = t − x = (θi − x) B̃i (t), S2 p2 (t) = (t − x)2 = (θi − x)2 B̃i (t)
i=0 i=0
p+2 Z θi
1 X 2 (3)
S2 f (x) − f (x) = (θi − s) f (s)ds B̃i (x)
2 x
i= p−2
236 P. Sablonnière
R θi
As | x (θi − s)2 ds| ≤ 13 |x − θi |3 , we get the following upper bound:
p+2
X
1 (3)
|S2 f (x) − f (x)| ≤ k f k∞ |x − θi |3 B̄i (x)
6
i= p−2
p+2
X
h 3 (3) 1
≤ k f k∞ (| p − i | + )3 B̄i (x)
6 2
i= p−2
As in the proof of theorem above, and without going into details, one can prove that the
last sum in the r.h.s. is uniformly bounded by 6 for any partition of I . So, we obtain
finally:
|S2 f (x) − f (x)| ≤ h 3 k f (3) k∞
By using the same techniques, the results of theorem 5 can be improved when X is
a uniform partition of I :
h 3 (3)
|S2 f (x) − f (x)| ≤ k f k∞
3
X m = {x i , 0 ≤ i ≤ m}, Yn = {y j , 0 ≤ j ≤ n}
s0 = x 0 , sm+1 = x m , t0 = y0 , tn+1 = yn . In this section and the next one, we use the
following notations:
hi h i−1
σi = , σi0 = = 1 − σi ,
h i−1 + h i h i−1 + h i
kj k j −1
τj = , τ 0j = = 1 − τj,
k j −1 + k j k j −1 + k j
for 1 ≤ i ≤ m and 1 ≤ j ≤ n, with the convention h 0 = h m+1 = k0 = kn+1 = 0.
0
σi2 σi+1 0 )2
σi (σi+1
0
ai = − 0 , bi = 1 + σi σi+1 , ci = − 0 ,
σi + σi+1 σi + σi+1
τ 2j τ 0j +1 τ j (τ 0j +1 )2
ā j = , b̄ j = 1 + τ j τ 0j +1 , c̄ j = − .
τ j + τ 0j +1 τ j + τ 0j +1
for 0 ≤ i ≤ m + 1 and 0 ≤ j ≤ n + 1. Let Kmn = {(i, j ) : 0 ≤ i ≤ m + 1, 0 ≤ j ≤
n + 1}, then the data sites are the mn intersection points of diagonals in subrectangles
i j = Ii × J j , the 2(m + n) midpoints of the subintervals on the four edges, and the
four vertices of , i.e. the (m + 2)(n + 2) points of the following set
where
Bmn := {Bi j , 0 ≤ i ≤ m + 1, 0 ≤ j ≤ n + 1}
is the collection of (m +2)(n +2) B-splines (or generalized box-splines) generating the
space S2 (Tmn ) of all C 1 piecewise quadratic functions on the criss-cross triangulation
Tmn associated with the partition X m × Yn of the domain (see e.g. [14], [13]). There
are mn inner B-splines associated with the set of indices
K̂mn = {(i, j ), 1 ≤ i ≤ m, 1 ≤ j ≤ n}
whose restrictions to the boundary 0 of are equal to zero. To the latter, we add
2m + 2n + 4 boundary B-splines whose restrictions to 0 are univariate quadratic B-
splines. Their set of indices is
and form a partition of unity (blending system). The boundary B-splines are linearly
independent as the univariate ones. But the inner B-splines are linearly dependent, the
dependence relationship being:
X
(−1)i+ j h i k j Bi j = 0
(i, j )∈K̂mn
S1 ers = ers f or 0 ≤ r, s ≤ 1
We also proved the following theorems, by bounding above the Lebesgue function of
S2 : X
32 = | B̃i j |
(i, j )∈Kmn
kS2 k∞ ≤ 2.4
These bounds are probably not optimal and can still be slightly reduced.
of I = [a1 , b1 ], J = [a2, b2 ] and data sites. The partition considered on is the tensor
product of partitions of I and J . We use the two sets of univariate B-splines
The associated extended bivariate dQIs are respectively (see e.g. [14] for bivariate
extensions of univariate operators)
m+1
X m+1
X
P1 f (x, y) := f (si , y)Bi (x), P2 f (x, y) := f (si , y) B̃i (x)
i=0 i=0
n+1
X n+1
X
Q 1 f (x, y) := f (x, t j )B j (y), Q 2 f (x, y) := f (x, t j ) B̃ j (y)
j =0 j =0
The bivariate dQI considered in this section is now defined as the blending sum
R := P1 Q 2 + P2 Q 1 − P1 Q 1
T HEOREM 9. The operator R is exact on the 8-dimensional subspace (P12 [x, y])⊕
(P21 [x, y]) of biquadratic polynomials. Moreover, its infinite norm is bounded above
independently of the nonuniform partition X m ⊗ Yn of the domain
kRk∞ ≤ 5
240 P. Sablonnière
X m := {x i , 0 ≤ i ≤ m}, Yn = {y j , 0 ≤ j ≤ n}, Z p := {z k , 0 ≤ k ≤ p}
The partition of considered here is the tensor product of partitions on 0 and 00 ,
i.e. a partition into vertical prisms with triangular horizontal sections. Setting K 0 mn =
{(i, j ), 0 ≤ i ≤ m + 1, 0 ≤ j ≤ n + 1}, we consider the bivariate B-splines and
fundamental splines on 0 = [a1 , b1 ] × [a2 , b2 ] defined in Section 3 above:
and the univariate B-splines and fundamental splines on [a3 , b3 ] defined in Section 2:
The extended trivariate dQIs that we need for the construction are the following
X
P1 f (x, y, z) := f (si , t j , z)Bi j (x, y),
(i, j )∈K0 mn
X
P2 f (x, y, z) := f (si , t j , z) B̃i j (x, y),
(i, j )∈K0mn
Quadratic spline quasi-interpolants 241
p+1
X p+1
X
Q 1 f (x, y, z) := f (x, y, u k )Bk (z), Q 2 f (x, y, z) := f (x, y, u k ) B̃k (z).
k=0 k=0
For the sake of clarity, we give the expressions of P2 and Q 2 in terms of B-splines:
X
P2 f (x, y, z) = µi j ( f )Bi j (x, y)
(i, j )∈K0 mn
+(bi + b̄ j − 1) f (si , t j , z)
p+1
X
Q 2 f (x, y, z) := {âk f (x, y, u k−1 ) + b̂k f (x, y, u k ) + ĉk f (x, y, u k+1 )}Bk (z)
k=0
R = P1 Q 2 + P2 Q 1 − P1 Q 1
Setting
[
Bi j k (x, y, z) = Bi j (x, y) B̃k (z) + B̃i j (x, y)Bk (z) − Bi j (x, y)Bk (z)
we obtain
X [
Rf = f (Ni j k )Bi j k
(i, j,k)∈Kmnp
νi j k ( f ) = âk f (Ni, j,k−1 ) + ĉk f (Ni, j,k+1 ) + ai f (Ni−1, j,k ) + ci f (Ni+1, j,k )
+ā j f (Ni, j −1,k ) + c̄ j f (Ni, j +1,k ) + (bi + b̄ j + ĉk − 1) f (Ni j k ).
6. Some applications
We present some applications of the preceding sections. For sake of simplicity, we give
results for uniform partitions only. Let Q be Rany of the
R previous dQIs.
1) Approximate integration. Approximating f by Q f gives rise to several inter-
esting quadrature formulas (abbr. QF) in Rd , mainly for d = 2, 3. For d = 1 and for a
uniform partition of I with meshlength h, we obtain the QF:
Z b X n−2
1 7 73 73 7 1
Q Fn ( f ) = S2 f = h( f 0 + f 1 + f2 + fi + f n−1 + fn + f n+1 ),
a 9 8 72 72 8 9
i=3
where f i = f (θi ) for 0 ≤ i ≤ n+1. This formula is exact for P3 , like composite Simp-
Rb Rb
son’s formula, i.e. Q Fn ( f ) = a f for all f ∈ P3 . Therefore a f −Q Fn ( f ) = O(h 4 )
for functions f ∈ C 4 (I ). Numerical experiments show that it is better than Simpson’s
formula based on n + 1 points (n even). Moreover, the errors associated with the two
QFs have often opposite signs, thus giving upper and lower values of the exact integral.
2) Approximate differentiation: pseudo-spectral methods. One can approximate the
first (partial) derivatives of f by those of Q f at the data sites. We thus obtain differen-
tiation matrices which can be also used for second derivatives and for pseudo-spectral
methods. Let us give an example for d = 1 and for a uniform partition of meshlength
h of the interval I . Denoting g = S2 f , then we get:
1 8 1
g 0 (θ0 ) = − f0 + 3 f1 − f2 ,
h 3 3
1 7 11 13 1
g 0 (θ1 ) = − f0 + f1 + f2 − f3 ,
h 6 16 24 16
1 1 3 1 5 1
g 0 (θ2 ) = f0 − f 1 + f2 + f − 3 − f4 ,
h 6 4 48 8 16
0 1 1 5 1 3 1
g (θn−1 ) = fn−3 − fn−2 − f n−1 + f n − f n+1 ,
h 16 8 48 4 6
1 1 13 11 7
g 0 (θn ) = f n−2 − f n−1 − f n + f n+1 ,
h 16 24 16 6
1 1 8
g 0 (θn+1 ) = f n−1 − 3 f n + f n+1 ,
h 3 3
and for 3 ≤ i ≤ n − 2:
0 1 1 5 5 1
g (θi ) = f i−2 − f i−1 + f i+1 − f i+2 .
h 16 8 8 16
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Paul SABLONNIERE `
INSA de Rennes
20 av. des Buttes de Coësmes
35043 Rennes Cedex, FRANCE
e-mail: Paul.Sablonniere@insa-rennes.fr