Abstract
Application of linear arrays in robotics and medical fields involves near field beamforming, Four elements linear receiving array system is used to develop receiving beamforming algorithm. Curved beams are formed on received ultrasonic sampled array data in near field. The beams scanned the data set as they moved from near to far field region. As beam traverse into far field their curvature is progressively reduced to linear inclination. Shaded weights are used to curve the beams and are calculated once by solving simple geometric and matrix equations. Linear weights in far field are approximated from the preceding curved weights.