Rida T. Farouki Takis Sakkalis Pythagorean-hodograph space curves. 41-66 1994 2 Adv. Comput. Math. 1 https://doi.org/10.1007/BF02519035 https://www.wikidata.org/entity/Q114233809 db/journals/adcm/adcm2.html#FaroukiS94
