I would like to thank my editor at Wiley, Brett Kurzman, for his whole-hearted support of this book from the beginning. I also want to thank the anonymous reviewers for their useful comments that helped to improve the presentation of the material in the book. I would like to thank my colleagues in the Electrical and Computer Engineering (ECE) Department at UMass Lowell for encouraging me to develop the course. The course is taught every semester with an enrollment of more than 50 students each semester. I would like to thank all my students who have taken so much interest in the course, thereby justifying the effort that has gone into preparing the material at the undergraduate level. I would like to thank the Dean of the Francis College of Engineering, Dr. Joseph Hartman, for his keen interest in my career development and for appointing me the acting chair of ECE at the time the decision to develop this course was made. Finally, I would like to thank my wife Christie for her support and encouragement, and our children Chidinma, Ogechi, Amanze, and Ugonna for the joy they bring into my life.