Myriapoda

Synapomorphies:
2 tagmata
Lacks ocelli

Chilopoda
Centipede
Synapomorphies:
Poisonous
Embryo with egg tooth

the biggest chilopod lives in the Amazon rainforest and eats bats...

Diplopoda
Millipede
Synapomorphies:
Diplo segmentation
Antennae with 8 joints

despite their name no diplopod has a thousand legs...

Pauropoda

Synapomorphies:
Globulus
Anal plate
Temporal organ

Symphyla

Synapomorphies:
Silk glands
Females have sperm pockets in their mouth
Unpaired mating opening