Springer Handbook of Acoustics SpringerHandbooksprovide aconcisecompilationofapproved key information on methods of research, general principles, and functional relationships in physi- cal sciences and engineering. The world’sleadingexpertsinthefields ofphysicsandengineeringwillbe assignedbyoneorseveralrenowned editors to write the chapters com- prising each volume. The content is selected by these experts from Springer sources(books,journals, onlinecontent)andothersystematic andapprovedrecentpublicationsof physicalandtechnicalinformation. Thevolumesaredesignedtobe useful as readable desk reference bookstogiveafastandcomprehen- siveoverviewandeasyretrievalof essential reliable key information, includingtables,graphs,andbibli- ographies.Referencestoextensive sourcesareprovided. Springer Handbook of Acoustics Thomas D. Rossing (Ed.) WithCD-ROM,962Figuresand91Tables 123 Editor: ThomasD.Rossing StanfordUniversity CenterforComputerResearchinMusicandAcoustics Stanford,CA94305,USA EditorialBoard: ManfredR.Schroeder,UniversityofGöttingen,Germany WilliamM.Hartmann,MichiganStateUniversity,USA NevilleH.Fletcher,AustralianNationalUniversity,Australia FloydDunn,UniversityofIllinois,USA D.MurrayCampbell,TheUniversityofEdinburgh,UK LibraryofCongressControlNumber: 2006927050 ISBN:978-0-387-30446-5 e-ISBN:0-387-30425-0 Printedonacidfreepaper (cid:1)c 2007,SpringerScience+BusinessMedia,LLCNewYork Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwhole or in part without the written permission of the publisher (Springer Science+BusinessMedia,LLCNewYork,233SpringStreet,NewYork, NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsor scholarlyanalysis.Useinconnectionwithanyformofinformationstorage andretrieval,electronicadaptation,computersoftware,orbysimilaror dissimilarmethodologynowknownorhereafterdevelopedisforbidden.The useinthispublicationoftradenames,trademarks,servicemarks,andsimilar terms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpression ofopinionastowhetherornottheyaresubjecttoproprietaryrights. Theuseofdesignations,trademarks,etc.inthispublicationdoesnotimply, evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneral use. Product liability: The publisher cannot guarantee the accuracy of any informationaboutdosageandapplicationcontainedinthisbook.Inevery individualcasetheusermustchecksuchinformationbyconsultingthe relevantliterature. Productionandtypesetting:LE-TeXGbR,Leipzig HandbookManager:Dr.W.Skolaut,Heidelberg Typographyandlayout:schreiberVIS,Seeheim Illustrations: schreiberVIS,Seeheim&HippmannGbR,Schwarzenbruck Coverdesign:eStudioCalamarSteinen,Barcelona Coverproduction:WMXDesignGmbH,Heidelberg Printingandbinding:StürtzAG,Würzburg SPIN11309031 100/3100/YL 543210 V Foreword Thepresenthandbookcoversaverywidefield.Its28chaptersrangefromthehistory of acoustics to sound propagation in the atmosphere; from nonlinear and underwa- teracousticstothermoacousticsandconcerthallacoustics.Alsocoveredaremusical acoustics, including computer and electronic music; speech and singing; animal (in- cluding whales) communication as well as bioacoustics in general, psychoacoustics andmedicalacoustics.Inaddition,therearechaptersonstructuralacoustics,vibration andnoise,includingopticalmethodsfortheirmeasurement;microphones,theircali- bration,andmicrophoneandhydrophonearrays;acousticholography;modelanalysis andmuchelseneededbytheprofessionalengineerandscientist. Amongtheauthorswefindmanyillustriousnames:YoichiAndo,MackBreazeale, BabrinaDunmire,NevilleFletcher,AndersGade,WilliamHartmann,WilliamKuper- Prof.Dr.M.R.Schroeder man,WernerLauterborn,GeorgeMaling,BrianMoore,AllanPierce,ThomasRossing, UniversityProfessor Johan Sundberg, Eric Young, and many more. They hail from countries around the SpeachandAcousticsLaboratory world: Australia, Canada, Denmark, France, Germany, Japan, Korea, Sweden, the University of Göttingen, Germany United Kingdom, and the USA. There is no doubt that this handbook will fill many needs,naybeirreplaceableintheartofexercisingtoday’smanyinterdisciplinarytasks devolvingonacoustics.Noreadercouldwishforawiderandmoreexpertcoverage. Iwishthepresenttomethewideacceptanceandsuccessitsurelydeserves. Göttingen,March2007 ManfredR.Schroeder VII Preface “Ahandbook,”accordingtothedictionary,“isabookcapableofbeingconveniently carried as a ready reference.” Springer has created the Springer Handbook series on importantscientificandtechnicalsubjects,andwefeelfortunatethattheyhaveincluded acousticsinthiscategory. Acoustics,thescienceofsound,isaratherbroadsubjecttobecoveredinasingle handbook.Itembodiesmanydifferentacademicdisciplines,suchasphysics,mechan- icalandelectricalengineering,mathematics,speechandhearingsciences,music,and architecture. There are many technical areas in acoustics; the Acoustical Society of America, for example, includes 14 technical committees representing different areas ofacoustics.Itisimpossibletocoveralloftheseareasinasinglehandbook.Wehave triedtoincludeasmanyaspossibleofthe“hot”topicsinthisinterdisciplinaryfield,in- Prof.em.T.D.Rossing cludingbasicscienceandtechnologicalapplications.Weapologizetothereaderwhose NorthernIllinoisUniversity favoritetopicsarenotincluded. PresentlyvisitingProfessor We have grouped the 28 chapters in the book into eight parts: Propagation of ofMusicatStanfordUniversity Sound;PhysicalandNonlinearAcoustics;ArchitecturalAcoustics;HearingandSignal Processing;Music,Speech, andElectroacoustics;Biologicaland MedicalAcoustics; StructuralAcousticsandNoise;andEngineeringAcoustics.Thechaptersareofvarying length.Theyalsoreflecttheindividualwritingstylesofthevariousauthors,allofwhom areauthoritiesintheirfields.Althoughanattemptwasmadetokeepthemathematical levelofthechaptersasevenaspossible,readerswillnotethatsomechaptersaremore mathematicalthanothers;thisisunavoidableandinfactlendssomedegreeofrichness tothebook. Weareindebtedtomanypersons,especiallyWernerSkolaut,themanagerofthe SpringerHandbooks,andtotheeditorialboard,consistingofNevilleFletcher,Floyd Dunn, William Hartmann, and Murray Campbell, and for their advice. Each chapter wasreviewedbytwoauthoritativereviewers,andwearegratefultothemfortheirser- vices.Butmostofallwethanktheauthors,allofwhomarebusypeoplebutdevoted muchtimetocarefullypreparingtheirchapters. Stanford,April2007 ThomasD.Rossing IX List of Authors IskanderAkhatov PerryR.Cook NorthDakotaStateUniversity PrincetonUniversity CenterforNanoscaleScienceandEngineering, DepartmentofComputerScience DepartmentofMechanicalEngineering 35OldenStreet 111DolveHall Princeton,NJ08540,USA Fargo,ND58105-5285,USA e-mail:[email protected] e-mail:[email protected] JamesCowan YoichiAndo ResourceSystemsGroupInc. 3917-680Takachiho WhiteRiverJunction,VT85001,USA 899-6603Makizono,Kirishima,Japan e-mail:[email protected] e-mail:[email protected] MarkF.Davis KeithAttenborough DolbyLaboratories TheUniversityofHull 100PotreroAve, DepartmentofEngineering SanFrancisco,CA94103,USA CottinghamRoad e-mail:[email protected] Hull,HU67RX,UK e-mail:[email protected] BarbrinaDunmire UniversityofWashington WhitlowW.L.Au AppliedPhysicsLaboratory HawaiiInstituteofMarineBiology 1013NE40thStr. P.O.Box1106 Seattle,WA98105,USA Kailua,HI96734,USA e-mail:[email protected] e-mail:[email protected] NevilleH.Fletcher KirkW.Beach AustralianNationalUniversity UniversityofWashington ResearchSchoolofPhysicalSciencesand DepartmentofSurgery Engineering Seattle,WA98195,USA Canberra,ACT0200,Australia e-mail:[email protected] e-mail:neville.fl[email protected] MackA.Breazeale UniversityofMississippi AndersChristianGade NationalCenterforPhysicalAcoustics TechnicalUniversityofDenmark 027NCPABldg. AcousticTechnology,Oersted.DTU University,MS38677,USA Building352 e-mail:[email protected] 2800Lyngby,Denmark e-mail:[email protected], AntoineChaigne [email protected] UnitédeMécanique(UME) EcoleNationaleSupérieuredeTechniques ColinGough Avancées(ENSTA) UniversityofBirmingham ChemindelaHunière SchoolofPhysicsandAstronomy 91761Palaiseau,France Birmingham,B152TT,UK e-mail:[email protected] e-mail:[email protected] X ListofAuthors WilliamM.Hartmann BjörnLindblom MichiganStateUniversity StockholmUniversity 1226BPSBuilding DepartmentofLinguistics EastLansing,MI48824,USA 10691Stockholm,Sweden e-mail:[email protected] e-mail:[email protected], [email protected] FinnJacobsen ØrstedDTU,TechnicalUniversityofDenmark GeorgeC.Maling,Jr. AcousticTechnology InstituteofNoiseControlEngineeringoftheUSA ØrstedsPlads,Building352 60HighHeadRoad 2800Lyngby,Denmark Harpswell,ME04079,USA e-mail:[email protected] e-mail:[email protected] Yang-HannKim MichaelMcPherson KoreaAdvancedInstituteofScience TheUniversityofMississippi andTechnology(KAIST) DepartmentofPhysicsandAstronomy DepartmentofMechanicalEngineering 123LewisHall CenterforNoiseandVibrationControl(NOVIC) P.O.Box1848 AcousticsandVibrationLaboratory University,MS38677,USA 373-1Kusong-dong,Yusong-gu e-mail:[email protected] Daejeon,305-701,Korea e-mail:[email protected] Nils-ErikMolin WilliamA.Kuperman LuleåUniversityofTechnology UniversityofCaliforniaatSanDiego ExperimentalMechanics ScrippsInstitutionofOceanography SE-97187Luleå,Sweden 9500GilmanDrive e-mail:[email protected] LaJolla,CA92093-0701,USA e-mail:[email protected] BrianC.J.Moore UniversityofCambridge ThomasKurz DepartmentofExperimentalPsychology UniversitätGöttingen DowningStreet Friedrich-Hund-Platz1 Cambridge,CB23EB,UK 37077Göttingen,Germany e-mail:[email protected] e-mail:[email protected] AlanD.Pierce MarcO.Lammers BostonUniversity HawaiiInstituteofMarineBiology CollegeofEngineering P.O.Box1106 Boston,MA,USA Kailua,HI96734,USA e-mail:[email protected] e-mail:[email protected] WernerLauterborn ThomasD.Rossing UniversitätGöttingen StanfordUniversity DrittesPhysikalischesInstitut CenterforComputerResearchinMusicand Friedrich-Hund-Platz1 Acoustics(CCRMA) 37077Göttingen,Germany DepartmentofMusic e-mail: Stanford,CA94305,USA [email protected] e-mail:[email protected] ListofAuthors XI PhilippeRoux GeorgeS.K.Wong UniversitéJosephFourier InstituteforNationalMeasurementStandards LaboratoiredeGeophysiqueInterneet (INMS) Tectonophysique NationalResearchCouncilCanada(NRC) 38041Grenoble,France 1200MontrealRoad e-mail:[email protected] Ottawa,ONK1A0R6,Canada e-mail:[email protected] JohanSundberg EricD.Young KTH–RoyalInstituteofTechnology JohnsHopkinsUniversity DepartmentofSpeech,Music,andHearing Baltimore,MD21205,USA SE-10044Stockholm,Sweden e-mail:[email protected] e-mail:[email protected] GregoryW.Swift LosAlamosNationalLaboratory CondensedMatterandThermalPhysicsGroup LosAlamos,NM87545,USA e-mail:[email protected]
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