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Pressure versus time at the focus of each lithotripter: Dornier HM3 (top), piezoelectric lithotripter array (middle), XX-Es (bottom). HM3: experimental measurements from (Y. Pishchalnikov, 2008, personal communication) (solid), [20] (dashed), [44] (dash dotted); numerical data (dotted). PLA: experimental measurements from (P. Chitnis, 2008, personal communication) (solid); numerical data (dashed). XX-Es: experimental measurements from [22] (solid); numerical data (dashed)
