“…With a phased array, there is no such drawback [3][4][5]. The emitted sound wave can be electronically steered and, when emission delays are electronically controlled, it is possible to adapt an incident wavefront to the complex form of the object's surface or change the main lobe direction [3,6,7]. For a relatively complex surface, there are multiple methods for adapting the transducer itself for maximum energy transfer, starting from a specifically-constructed wedge, using a water-filled shoe or using flexible arrays [8].…”