Abstract
This review provides a comprehensive overview of ultrasonic wave propagation, with a primary focus on high-power ultrasound systems where cavitation bubbles are likely to occur. The review is structured to guide readers through the historical development of cavitation models, from early works such as the Rayleigh-Plesset equation to more advanced numerical approaches. It explores the dynamics of cavitation bubbles, their physical effects, and the key factors influencing bubble formation, growth, and collapse. In addition to bubble-induced cavitation, the review addresses nonlinear wave propagation in the absence of bubbles, highlighting phenomena such as harmonic generation and shock wave formation. A detailed discussion on the numerical modelling of ultrasonic systems follows, covering linear and nonlinear approaches, boundary conditions, and the challenges of accurately simulating cavitating systems. The review concludes with an analysis of recent developments, emerging trends, and future directions in computational modelling for ultrasonic applications. By presenting a structured overview of both the theoretical and practical aspects of ultrasonic wave propagation, this work aims to provide a foundation for future research and design improvements in sonochemical and acoustic systems.