Crocodile shark in a 1936 issue of "Zoological Magazine (Tokyo)" by ichthyologist Kiyomatsu Matsubara, based on a long specimen found at the Koti Fish Market in Japan. The type specimen is a long adult male found at a fish market in Su-ao, Taiwan. After being shuffled between the genera "Carcharias" and "Odontaspis" in the family Odontaspididae by various authors, in 1973 Leonard Compagno resurrected Jean Cadenat's 1963 subgenus "Pseudocarcharias" from synonymy for this species and placed it within its own family. The morphology of the crocodile shark suggests affinity with the megamouth shark (Megachasmidae), basking shark (Cetorhinidae), thresher sharks (Alopiidae), and mackerel
Robot fish instead of forward swimming only. The shapes and sizes of fins vary drastically in living fish, but they all help to accomplish a high level of propulsion through the water. In order for robot fish to achieve the same type of rapid and maneuverable propulsion, robot fish need multiple control surfaces. The propulsive performance is related to the position, mobility, and hydrodynamic characteristics of the control surfaces. The key to controlling a multi-joint robotic fish is creating a simplified mechanism that is able to generate a reasonable amount of control. Designers should consider some important factors, including lateral body motions,