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This monograph presents a new theory for analysis, comparison and design of nonlinear smoothers, linking to established practices. Although a part of mathematical morphology, the special properties yield many simple, powerful and illuminating results leading to a novel nonlinear multiresolution analysis with pulses that may be as natural to vision as wavelet analysis is to acoustics. Similar to median transforms, they have the advantages of a supporting theory, computational simplicity, remarkable consistency, full trend preservation, and a Parceval-type identity.