“…Despite the existing robotic ultrasonic testing systems [ 1 , 2 , 3 , 4 ], tool path planning [ 5 , 6 , 7 , 8 , 9 ], data acquisition [ 10 , 11 ], and testing results presentation [ 12 , 13 ] are actual problems in the research and development of such equipment. Furthermore, with the application of robotic testing systems, the task of high-resolution results acquisition can be solved by the application of the focused transducers [ 14 , 15 ] or phased arrays [ 16 , 17 ]. The advantages of phased arrays over the single-element transducers are conditioned by their perfect flexibility and good imaging performance [ 18 ].…”