Wavelets are mathematical functions that divide data into different frequency components, and then study each component with a resolution matched to its scale. Wavelets were developed independently in the fields of mathematics, quantum physics, electrical engineering, and seismic geology. Interchanges between these fields during the last ten years have led to many new wavelet applications such as image compression, turbulence, human vision, radar, and earthquake prediction. This text introduces wavelets at a level appropriate for engineers, scientists and advanced graduate students interested in the topic. The authors have made every effort to keep the text from looking like a math book by providing detailed discussions, examples, drawings and drill problems.