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evolutionary histories, as the most recent common ancestor of centipedes and millipedes lived around 450 to 475 million years ago in the Silurian. The head alone exemplifies the differences; millipedes have short, geniculate (elbowed) antennae for probing the substrate, a pair of robust mandibles and a single pair of maxillae fused into a lip; centipedes have long, threadlike antennae, a pair of small mandibles, two pairs of maxillae and a pair

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