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 kinematic data and anatomical data. When designers mimic a BCF-type robot fish, the link-based body wave of the robot fish must provide motions similar to that of a living fish. This kind of body wave-based swimming control should be discrete and parameterized for a specific swimming gait. Ensuring swimming stability gait can be difficult, and transitioning smoothly between two different gaits can be tricky in robot fish. A central neural system known as a "Central Pattern Generator" (CPGs) can govern multilink robotic fish locomotion. The CPG is located in every segment, and can connect and stimulate contracting or stretching muscles.