Abstract
1.1 Traditional sonars This chapter is a contribution to the underwater acoustic field. SONAR (SOund Navigation And Ranging) was invented and developed during the first world war based on observations of dolphins (in water) and bats (in air) of their capabilities to detect objects and navigate into a 3D world. Sonar systems have evolved dramatically since then from a simple ranging system to complex sonar imaging systems. Several configurations for underwater sonars are available (cf. figure 1) and the most popular are:
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