Sound waves are mechanical compression waves that cause alternating high and low pressure regions in air or other materials. The speed of sound depends on the density and compressibility of the medium and follows the formula velocity=sqrt(elasticity/inertia). Humans can hear sounds between 20-20,000 Hz but some animals can hear infra or ultrasound beyond this range. Sound is measured on the decibel scale which is logarithmic to account for the wide range of sound amplitudes.