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Ultrasonic waveguide sensor for measurement of viscosity of highly viscous fluids has been developed. The measurement principle is based on application of guided shear-horizontal SH0 mode of the Lamb waves propagating in an aluminium planar waveguide immersed in a viscous liquid. Attenuation of the guided wave depends on viscosity of the surrounding liquid and is used for viscosity estimation. The developed sensor is mechanically robust and may be used for in-line process control of viscous liquids.