Sound is a compressional wave in a gas, liquid, or solid. A wave is a periodic disturbance that travels in space, say in the
z direction. It is periodic in space, which means that at any given time
t, the disturbance repeats periodically with
z, as in Fig.
10.1. It is periodic in time, which means that at any given position
z, the disturbance repeats periodically with time
t. The disturbance travels with a speed
v, the speed of sound, so from time
to time
the disturbance travels a distance
. The quantity
does not change for the disturbance as it “travels” with the wave.
So far we have described the propagation of a disturbance by a generic type of wave, but have not specified what is being disturbed. In sound waves, these disturbances are local changes in pressure,
, mass density,
(or molecular density,
), and displacement,
, from their ambient values. Sound waves in gases and liquids are
longitudinal or
compressional in that these changes occur in the same direction as the wave propagates, here in the
z direction. If you pluck a string, the wave propagates along the string, but the actual disturbance of the string is perpendicular to it, making it a
transverse wave. (In solids, sound waves can be longitudinal or transverse.) Figure
10.2 shows the longitudinal motion of the molecules during a sound wave. These pressure and density variations are in phase with each other, meaning that they both increase (compression) or decrease (rarefraction) from the ambient values together. (The equations of state of materials, such as
for ideal gases , usually show that density increases with pressure.) In contrast, the displacement of molecules is out of phase with density and pressure; the displacement spatially varies as a cosine wave if the density and pressure vary as sine waves. Where the density and pressure are at a maximum, the displacement is zero, but the displacement is positive just to the left and negative just to the right—which maximizes the density and pressure. Where the density and pressure are at a minimum, the displacement is also zero, but the displacement is negative just to the left and positive just to the right. This is seen in Fig.
10.2.
We have chosen so far to examine the simplest waves , for which the periodic disturbance varies as a sine function (or equivalently a cosine function). While sound waves from speaking are complex sums of such waves at different frequencies , to a very good approximation we can examine the physics of each frequency by itself and sum the effects. (This is called linearity or linear superposition.)
10.1.1 The Speed and Properties of Sound Waves
Sound waves move at a speed
that is determined by the properties of the medium. In general the sound speed is
where
C is a constant describing the stiffness of the material (when there is no heat flow, which are “adiabatic” conditions) and
is the mass density. In solids, this stiffness constant can depend on the direction the sound wave propagates. It equals Young’s modulus
Y for the propagation of compressional waves down a rod that is much longer than it is wide. For steel,
m/s. In fluids (liquids and gases),
C is the (adiabatic) bulk modulus
B, which describes how much pressure is needed to achieve a given fractional decrease in volume. In gases,
, where
is the ratio of the specific heats at constant pressure (
) and volume (
). (The ratio
ranges from 1, for very large molecules, to 5/3, for an ideal monatomic gas, and is 1.4 for air, which is composed mostly of diatomic gases.) Consequently, the speed of sound in gases is
where
R is the constant in the ideal gas law (
7.2) (
J/mol-K), and
m is the molecular mass. The speed of sound in air is 343 m/s (at
C), which is
slower than that in steel, while in water it is 1,482 m/s (see Problems
10.4 and
10.5).
Waves are periodic in space (at one
t) and repeat with a spatial periodicity called the wavelength
(Fig.
10.1). They are also periodic in time (at one
z) with a temporal periodicity called the period
T, which corresponds to a frequency
f with
(Fig.
10.1). Mathematically, a disturbance moving to the right (towards larger
z) can be expressed as
—for any wave of functional form
g, because
remains constant as the wave moves to the right at speed
. One example of this is
. Similarly, a disturbance moving to the left (towards smaller
z) can be expressed as
, because
remains constant as the wave moves to the left.
Frequency has units of cycles per second (cps) = Hertz (Hz). Sometimes we will use the radial frequency
, which has units of rad/s or just 1/s, and which is related to the frequency by
. The wavelength, frequency, and speed of a wave are interrelated by
So, low-frequency waves have long wavelengths, while high-frequency waves have short wavelengths. Using the speed of sound in air,
1,000 Hz sound waves in air have a wavelength of 0.34 m
ft. For some types of waves,
depends on
f, and so
, but it does not for sound in air. When sound waves travel from one medium to another, the frequency stays the same, but the wavelength changes with the change in sound speed (
10.3). Note that for acoustic waves it is the disturbance that is propagating; the actual molecules do not physically travel with the disturbance and move very little.
10.1.2 Intensity of Sound Waves
The intensity
I of a sound wave is the energy carried by the wave per unit area and per unit time (in units of J/m
-s or W/m
). At a distance
R from an isotropic source of average acoustic power
, the intensity is
The acoustic intensity is also equal to the kinetic energy of the wave per unit volume,
, times the wave speed,
, or
where
is the maximum speed of the molecules for a maximum displacement
during the disturbance. Therefore, we see that
The
acoustic impedance of a medium
Z is given by the product of the mass density and sound speed for that medium, so
Table
10.1 lists the mass density, sound speed, and acoustic impedance for air, water, fat, muscle, and several other body materials. The acoustic impedance for water, fat, and muscle are
3,500
that for air. We will see later that this mismatch is responsible for the reflection of sound between air and these other media.
Table 10.1
Mass density, sound speed, and acoustic impedance
Air ( C) |
1.20 |
343 |
413 |
Water |
1.00 10 |
1,480 |
1.48 10 |
Fat |
0.92 10 |
1,450 |
1.33 10 |
Muscle |
1.04 10 |
1,580 |
1.64 10 |
Bone |
2.23 10 |
3,500 |
7.80 10 |
Blood |
1.03 10 |
1,570 |
1.61 10 |
Soft tissue (avg.) |
1.06 10 |
1,540 |
1.63 10 |
Lung |
286 |
630 |
1.80 10 |
For simplicity, we will relabel the gauge pressure
as
P for the rest of this chapter and call it the sound pressure. Moreover,
P will actually denote the maximum pressure in the cycle,
. The magnitude of the maximum pressure variation in the sound wave is related to this maximum (out of phase) displacement by
We can understand this because pressure is the force per unit area and force is the change of linear momentum with time, and so pressure is the change in linear momentum per unit area per unit time. Using (
10.8), the acoustic intensity is
We can present the sound intensity
I in units of W/m
or any other equivalent units. It is also very common to characterize the sound intensity in a more physiologically-based manner, in which
I is referenced to
W/m
;
is a sound intensity that is barely audible at 3,000 Hz. Because sound intensities in our everyday experience can be many orders of magnitude larger than this reference intensity, we usually use a logarithmic scale—referenced to base 10—to characterize
I. In units of bels, named after Alexander Graham Bell,
I(in bels
). It is, in fact, standard to use a finer scale in tenths of bels, called decibels or dB, with
For example, for
W/m
we see that
I(in dB
, or 40 dB.
The dB scale is also used to denote the relative magnitude of intensities, such as that of
relative to
. With
we see that
So, a 20 dB increase in sound intensity indicates a factor of
increase in
I. Because the dB scale is also used to indicate relative magnitudes, this absolute acoustic unit in (
10.10) is often denoted as dB SPL (sound pressure level). Table
10.2 shows the acoustic intensities of common sounds. Normal background noise is 50–60 dB SPL. Normal conversation is 60–70 dB SPL. Speech is around 70–80 dB SPL at 1 m. The threshold of pain occurs at about 120 dB SPL. Windows break at about 163 dB SPL. Shock waves and sonic booms cause levels of about 200 dB SPL at a distance of 330 m.
Table 10.2
Typical sound intensities
Sound barely perceptible, human with good ears |
10 |
0 |
Human breathing at 3 m |
10 |
10 |
Whisper at 1 m, rustling of leaves, ticking watch |
10 |
20 |
Quiet residential community at night, refrigerator hum |
10 |
40 |
Quiet restaurant, rainfall |
10 |
50 |
Normal conversation at 1 m, office, restaurant |
10 |
60 |
Busy traffic |
10 |
70 |
Loud music, heavy traffic, vacuum cleaner at 1 m |
10 |
80 |
Loud factory |
10 |
90 |
Fast train, pneumatic hammer at 2 m, disco, blow dryer |
10 |
100 |
Accelerating motorcycle at 5 m, chainsaw at 1 m |
10 |
110 |
Rock concert, jet aircraft taking off at 100 m |
1 = 10 |
120 |
Jackhammer |
10 |
130 |
Shotgun blast, firecracker |
10 |
140 |
Jet engine at 30 m |
10 |
150 |
Rocket engine at 30 m |
10 |
180 |
Apollo astronauts were exposed to very loud sounds during liftoff, over 85 dB SPL for about 80 s after liftoff—with maximum levels below 100 Hz [
25,
37]. About 60 s after launch the sound in the crew area was about 123 dB over a wide frequency range, but astronauts heard much less intense sounds (because they wore helmets and suits), from 119 dB at 63 Hz to 89 dB at 2,000 Hz. On the gantry, 10 m above ground, the maximum levels were 158–168 dB SPL from 2 to 2,000 Hz and then down to 152 dB at 8,000 Hz [
37,
39]. The levels were 12–31 dB lower 400 m from the gantry.
Equation (
10.9) relates the sound intensity and sound pressure by
. For the reference intensity
, and with
W/m
and
kg/m
-s for air, we see that the reference pressure
N/m
(Pa). Dividing these two relations for intensity and pressure gives
and using (
10.10) gives
Sometimes a distinction is made between the expression for the intensity, (
10.10), which gives the intensity level (IL) in units of dB IL, and that from (
10.14) for pressure, which gives the sound pressure level in dB SPL, but we will not make such a distinction here and the units will be called dB SPL. Generalizing (
10.12) gives
When the sound intensity increases by 60 dB,
I increases by
and
P increases by
.
There is an analog to (
10.9) in electronics with power
, where
is the voltage drop and
is the resistance. (The factor of 2 in the denominator is present for sinusoidal voltages and absent for DC voltages.) As in acoustics , the dB scale is commonly used in electronics analogous to (
10.10), (
10.12), and (
10.15).
Absorption of Sound
Within a given medium the sound wave can be attenuated by absorption and scattering. In scattering, part of the propagating beam is redirected into many directions, without being absorbed. The amplitude of the acoustic wave (
A = magnitude of the pressure
or displacement
) decreases exponentially with the distance the wave propagates,
z. This can be written as
where
is the absorption coefficient and
F is the frequency dependence. For pure liquids,
in Hz
and for soft tissues,
in Hz. Typical values of
are given in Table
10.3 for body tissues and in Table
10.4 for other materials. Using (
10.13), the acoustic power or intensity varies as
Table 10.3
Amplitude absorption coefficient
for tissues
Aqueous humor |
1.1 10 |
Vitreous humor |
1.2 10 |
Blood |
2.1 10 |
Brain (infant) |
3.4 10 |
Abdomen |
5.9 10 |
Fat |
7.0 10 |
Soft tissue (average) |
8.3 10 |
Liver |
1.0 10 |
Nerves |
1.0 10 |
Brain (adult) |
1.1 10 |
Kidney |
1.2 10 |
Muscle |
2.3 10 |
Crystalline eye lens |
2.6 10 |
Bone |
1.6 10 |
Lung |
4.7 10 |
Table 10.4
Amplitude absorption coefficient
for fluids
Water |
2.5 10 |
Castor oil |
1.2 10 |
Air (STP) |
1.4 10 |
This variation also applies to the absorption of light in media and is called Beer’s Law. In Beer’s Law jargon the intensity absorption coefficient
in (
10.17) is called
, and so, for instance,
for tissue. Beer’s Law for light is usually expressed as:
In analyzing the measured fraction of the intensity of sound or light transmitted through a medium, all of the loss mechanisms must be considered: the reflection from interfaces (see below), absorption, and scattering. Because the wavelengths of sound waves are of the same order of magnitude as everyday objects, such as windows, pipes, heads, and so on, the diffraction and interference of sound waves is very common .
Components of Impedance (Advanced Topic)
The concept of impedance is more generally used to assess the characteristics of a medium that “opposes” energy flow in a system. It is also used to characterize electrical components and circuits, where the electrical resistance is the real part of the impedance and the capacitance and inductance of a system correspond to the imaginary part of the electrical impedance. Analogous concepts are used in optics to characterize the transmission of light in media. In acoustics (and other areas), the reciprocal of the
impedance Z, is called the
admittance , which describes the ease of energy flow .
Immittance refers to either the impedance or admittance, and is used as a general term to describe how well energy flows in a medium.
The impedance is generally a complex parameter . The real part of
Z is the
resistance R. Out of phase to the resistance by
(or
rad) are the
mass (positive) reactance (
), which is proportional to frequency
f, and the
stiffness (or negative) reactance , which is inversely proportional to
f;
and
are
(or
rad) out of phase to each other. Overall,
. The net reactance is
. The magnitude of the impedance is related to these component parts by
Similarly, the admittance
. The real part
G is the
conductance, and the imaginary parts
and
are the
mass susceptance and
stiffness (compliant) susceptance, respectively. (When the impedance has only a resistive term, the conductance is
.) The net susceptance is
. The components of the admittance are related to the impedance terms by
,
, and
. The magnitude of the admittance is related to these component parts by
Problems
10.26–
10.29 address these and other relations involving impedances.
This discussion can apply to the impedance in acoustics, electronics, or flow (Appendix D). For example, this terminology can be applied to the analog in mechanics of a mass attached to a spring that slides on a rough surface. The friction due to sliding on the rough surface is the resistance. The inertia due to the mass is the mass reactance and the resistance to movement due to the spring is the stiffness reactance. When used in audiology and other aspects of sound, these parameters are also characterized by the term “acoustic,” such as acoustic impedance, acoustic admittance, acoustic resistance , mass (positive) acoustic reactance, and so on. To avoid confusion we could use subscripts, such as
for acoustic resistance , and so on.
The units of impedance
Z is ohms (
), just as in electronics. The units of admittance
Y is the 1/ohm = 1 mho.
R,
, and
all have units of ohms, and
G,
, and
all have units of mhos. In audiology the admittance values are small and the more useful unit is the millimho or mmho.
The Impedance in a Harmonically Driven System (Advanced Topic)
We now examine the concept of impedance and derive (
10.19) by considering the motion of a body of mass
m attached to a spring of force constant
k. It is subject to a viscous, frictional force, characterized by
, and a driving term,
. This motion is described by
The driving term has a real part
, because
. This model is similar to the Voigt model in Chap.
4 with
(from (
4.57)). (It can be represented by the model presented later in Fig.
10.13, with the force driving term acting laterally on the mass.)
Substituting a potential solution
in this equation, gives the (“particular” or steady state) solution
(See Appendix C.) Differentiating this, the speed of the body is
The ratio of the driving force,
, to the speed,
, is the mechanical impedance
Z
This impedance is sometimes expressed as
Here,
provides the resistance ,
is the inertial term (or inertance), and
is the stiffness. In terms of the
mass (positive) reactance (
), which is proportional to frequency
f, and the
stiffness (or negative) reactance , which is inversely proportional to
f, we can say
with
and
. Equation (
10.19) follows from the magnitude of a complex number.
10.1.3 What Happens When Sound Travels from One Medium to Another?
Sound transmission from one medium to another is very important in hearing, because sound is transmitted from the air in the auricle and ear canal into the middle ear and then into the inner ear . This can be understood by seeing what happens to a sound wave incident on the planar interface between two different semi-infinite media, such as media 1 and 2 in Fig.
10.3.
This sound wave travels in medium 1 with intensity
and pressure
incident on the interface. The part that is reflected back into the same medium has intensity
and pressure
, and the part that is transmitted into medium 2 has intensity
and pressure
. These pressures are related by “matching the boundary conditions” at the interface, as we will see very soon. As stated earlier, the frequency is the same in both media, but the wavelength changes with the change in sound speed by (
10.3), so
and
. These frequencies need to be the same because the sinusoidal oscillations of pressure and matter movement on both sides of the interface must always match. The magnitudes of the pressures must match so there is no net force on the interface. This gives
The motion at the interface caused by all three waves must match. The speed of this lateral displacement is
and for a wave initially moving to the right it is positive for the incident and transmitted waves and negative for the reflected wave. Using (
10.8),
, we know that
, and so matching displacement gives
Solving these two equations gives
Using (
10.9) and (
10.30), the fraction of intensity that is reflected is
Using (
10.31), the fraction of intensity that is transmitted is
We see that
and
, which means that sound energy (and intensity) is conserved. Also, the reflected fraction is large (and approximately equal to 1) when
is either much larger or smaller than 1, i.e., when there is a very large acoustic impedance mismatch. We will see this means the large mismatch of acoustic impedances between air and any solid or liquid medium (Table
10.1) has important consequences in the performance of the ear. The term “to match impedance” means to minimize
, and this is accomplished by making
and
approximately equal (
10.33). Examples of this mismatch in the body are given in Table
10.5. Most sound incident on the body is reflected. Little sound is reflected between soft tissues (brain, skin, kidney, liver, and so on) and between soft tissues and blood. There is significant reflection at interfaces of soft tissues with the lungs and with bones.
Table 10.5
Representative fractions of reflected and transmitted acoustic energy at tissue interfaces
Water/soft tissue |
0.23 |
99.77 |
Fat/muscle |
1.08 |
98.92 |
Bone/muscle |
41.23 |
58.77 |
Soft tissue/bone |
43.50 |
56.50 |
Bone/fat |
48.91 |
51.09 |
Soft tissue/lung |
63.64 |
36.36 |
Air/muscle |
98.01 |
1.99 |
Air/water |
99.89 |
0.11 |
Air/soft tissue |
99.90 |
0.10 |
10.1.4 Resonant Cavities
Many properties of sound waves depend on the medium the wave propagates in and on the characteristics of the enclosure. This is important in the production of sound—as in human speaking, musical instruments, megaphones, and sound produced in echo chambers—and in the collection of sound waves—as in human hearing in the outer ear . One way to analyze these properties is to consider the properties of sound waves in resonant cavities; more generally, these properties of
resonant cavities can be applied to any waves in any resonant structure.
What is a resonant structure? Let us consider a wave on a string of length
L. The string can be plucked so a localized wave can propagate along the length of the string. Alternatively, one can pluck the string so a (transverse wave) oscillates everywhere periodically. If the string is rigidly fixed at both ends, the lowest order periodic motion (or mode—for which the transverse displacement at any point along the string varies as
) is one with a half wave between the two ends (Fig.
10.4). Here
, so the wavelength
. The “boundary conditions ” for this motion are zero transverse motion at each end; such places with no motion are called
nodes . Higher order modes with higher integral numbers of half wavelengths are possible. In general, for
n half wavelengths , the wavelength is
, and so the resonant wavelengths are
Since
, the resonant or mode frequencies are
which is
,
,
, … for
; these are also called the
fundamental frequency, the
first harmonic, the
second harmonic, etc. The mode frequencies in this case are equally spaced by
.
If one of the two ends of the massless string is not fixed, but is free to move (only transverse to string axis), this different boundary condition leads to a different set of resonant wavelengths and frequencies. At the fixed end, the transverse displacement is still zero, which is a node. At the free end, the transverse displacement now has maximum magnitude (and zero slope)—and this is called
antinode an, as in Fig.
10.5. The lowest order mode now has a quarter wavelength between the two ends separated by the string length, and so
and the wavelength
. The next lowest order mode has an extra half wavelength cycle with
, so the wavelength
, etc. Now the resonant condition is
, so the resonant wavelengths are
The mode frequencies are
which is
,
,
, … for
. Although the mode frequencies are different from the previous case, they are still equally spaced by
. The lowest frequency is now
and only odd harmonics are present. Figure
10.6 shows the mode frequencies for both boundary conditions.
Hollow tubes are good first-order models for the tubes in the body where longitudinal sound waves propagate (similar to pipes in a pipe organ) (Fig.
10.6). If the tube of length
L is open at both ends, the pressure is fixed at the ambient pressure at each end and
at the ends. This is formally equivalent to the string with fixed ends, so the resonant wavelengths and frequencies are given by (
10.36) and (
10.37). The density oscillation is also zero at each end (nodes) and the molecular displacement is of maximum magnitude at each end (antinodes). If the tube is open at one end and closed at the other,
P is still zero at the open end (a node). At the closed end, the lateral displacement is fixed at zero (a node), while the pressure and density changes have maximum magnitude (an antinode). This is formally equivalent to the string fixed at one end and free at the order, so the resonant wavelengths and frequencies are given by (
10.38) and (
10.39). (The resonant wavelengths and frequencies for a tube closed at both ends are the same as for one that is open at both ends, but the identifications of nodes and antinodes are interchanged.) This is the reason why the tube length and boundary conditions are important in determining these resonances, and why these resonances can be changed by varying the tube conditions (length, varying cross-sectional area and shape)—as can happen in the region between the vocal cords and the mouth opening. For details about acoustic resonances see [
53,
54].
The mathematics of resonant excitation of an acoustic medium are the same as those used in Chap.
8 to analyze (
8.48) and (
8.50), and are due to acoustic losses. This damping leads to the finite widths of the resonances for acoustic energy, which are
, in Hz, between the points with half the maximum response. Figure
10.7 compares the unrealistically narrow resonances to the more realistic, broader, damped resonances. The number of cycles that an excitation lasts during its decay (to 1 /
e of the initial energy) is
, where the quality factor
, where
and
f are the resonant frequencies. (See Appendix D for more details.)