Chinese trumpetfish in shape to the anal fin which is just under. The pelvic fins are located in the middle of the body and are small, with one basal black spot. The body coloration can be uniform or mottled in a range of grey, brown, or dark green. Some fish are uniformly bright yellow. The rear part of the body is normally black with white dots. Two black spots are present on the tail. The compound set of the long caudal peduncle and the caudal fin is yellowish, whatever the fish coloration. Caudal fin usually has two round black spots, at least
Robot fish to swim similar to the way live fish swim, which can adapt and process a complicated environment. The first robot fish (MIT's RoboTuna) was designed to mimic the structure and dynamic properties of a Tuna. In an attempt to gain thrust and maneuvering forces, robot fish control systems are capable of controlling the body and caudal fin, giving them a wave-like motion. In order to control and analyze robotic fish movement, researchers study the shape, dynamic model and lateral movements of the robotic tail. One of the many tail shapes found on robot fish is lunate, or crescent shaped. Some