Fill in the blank. Columns of an matrix are an orthonormal basis for, if and only if is a _____________ matrix.

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Fill in the blank. Columns of an<br><img src='https://www.fatskills.com/images2/GradExams/C585F1F4-9D73-4FEE-A60C-BDC1CF95DE1B.png' height='11' width='47'/> matrix<br><img src='https://www.fatskills.com/images2/GradExams/410E39D5-BF81-4C79-9D35-17456837F093.png' height='15' width='14'/> are an orthonormal basis for<br><img src='https://www.fatskills.com/images2/GradExams/92CEECD5-B143-4FDC-90FD-98985DDEEA36.png' height='15' width='22'/>, if and only if<br><img src='https://www.fatskills.com/images2/GradExams/410E39D5-BF81-4C79-9D35-17456837F093.png' height='15' width='14'/> is a _____________ matrix.