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Quadratic-programming and SQP\ndetails follow Goldfarb & Idnani (1983)\n and Nocedal & Wright (2006)\n. For smoothing spline and\npenalized spline background, see Wahba (1990)\n and Wood (2017)\n. For variance-component and\ncorrelation-parameter estimation, see Searle et al. (2006)\n. 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