The underwater robot BionicFinWave with its undulating fin motion uses the technology to swim collision-free through a transparent pipe system. Five ultrasound sensors on its head and the inertial sensor technology constantly measure the distances to the walls and its actual direction through the water. A processor analyses this data and uses it to work out when there is a curve in the pipe system. It controls the fins in such a way that the BionicFinWave swims as centrally as possible and does not hit the walls.