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Diplopoda:
1. Have cylindrical bodies with a segmented exoskeleton
2. Possess two pairs of legs per body segment
3. Omnivorous feeders, primarily consuming decaying plant matter
4. Protected by a hard exoskeleton made of chitin
5. Some species have the ability to produce toxic secretions for defense
Member: Millipede
Chilopoda:
1. Have long, flattened bodies with a segmented exoskeleton
2. Possess one pair of legs per body segment
3. Carnivorous predators, feeding on insects and other small animals
4. Possess venomous claws or fangs for hunting and defense
5. Typically nocturnal and fast-moving
Member: Centipede