Gaussian quadrature rules for $C^1$ quintic splines with uniform knot vectors
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We provide explicit quadrature rules for spaces of $C^1$ quintic splines with uniform knot sequences over finite domains. The quadrature nodes and weights are derived via an explicit recursion that avoids numerical solvers. Each rule is optimal, that is, requires the minimal number of nodes, for a given function space. For each of $n$ subintervals, generically, only two nodes are required which reduces the evaluation cost by $2/3$ when compared to the classical Gaussian quadrature for polynomials over each knot span. Numerical experiments show fast convergence, as $n$ grows, to the ``two-third'' quadrature rule of Hughes et al.  for infinite domains.