This introductory text develops the fundamental physics of the behavior of granular materials. It covers the basic properties of flow, friction, and fluidization of uniform granular materials; discusses mixing and segregation of heterogeneous materials (the famous "brazil-nut problem"); and concludes with an introduction to numerical models. The presentation begins with simple experiments and uses their results to build concepts and theorems about materials whose behavior is often quite counter-intuitive; presenting in a unified way the background needed to understand current work in the...