Malacostraca
Life cycle

Most species of malacostracans have distinct sexes (a phenomenon known as gonochorism), although a few species exhibit hermaphroditism. The female genital openings or gonopores are located on the sixth thoracic segment or its appendages, while the male gonopores are on the eighth segment or its appendages, or in a small number of species, on the seventh. The naupliar larval stages are often reduced and take place before hatching, but where they occur, a metamorphosis usually occurs between the larval and the adult forms. Primitive malacostracans have a free-swimming naupliar larval stage. Research suggests the common ancestor of Malacostraca had lost the free-living nauplius larval stage, but re-evolved it again through heterochrony in Dendrobranchiata and Euphausiacea, which both has a lecithotrophic (non-feeding) nauplius stage.
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