Matter is anything that has mass and takes up space. It exists in three states - solid, liquid, and gas. All matter is made up of tiny particles called atoms that are too small to see with the naked eye or a standard microscope. Mass is a measure of the amount of matter in an object, measured in kilograms. Volume is the space an object occupies, measured in cubic meters. Density measures the amount of mass concentrated in a given volume, with denser materials having more mass in the same space.