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Historically, the study of pitch and pitch perception has been a central problem in psychoacoustics, and has been instrumental in forming and testing theories of sound representation, processing, and perception in the auditory system. Pitch is closely related to frequency, but the two are not equivalent. Frequency is an objective, scientific attribute that can be measured. However, this does not necessarily mean that most people won’t agree on which notes are higher and lower. Complex and aperiodic sound waves can often be assigned a pitch by this method.