Easier to follow than the video: https://www.safireproject.com/ewExternalFiles/SAFIRE-Project-Report.pdf
Video: https://www.youtube.com/watch?v=DTaXfbvGf8E
Easier to follow than the video: https://www.safireproject.com/ewExternalFiles/SAFIRE-Project-Report.pdf
Video: https://www.youtube.com/watch?v=DTaXfbvGf8E