Sound is produced by vibration of objects. Vibrations cause compressions and rarefactions in the medium through which sound travels, such as air. These compressions and rarefactions form longitudinal waves that propagate through the medium. The speed, frequency, wavelength, and amplitude characterize sound waves. Humans can hear sounds between 20 Hz and 20,000 Hz. Ultrasound above this range and infrasound below it are used for applications like medical imaging, cleaning, and animal communication.