How are the excretory systems of the three main arthropod classes constituted?

How are the excretory systems of the three main arthropod classes constituted?
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In crustaceans a pair of excretory organs called green glands exists. The green glands collect residuals from the blood and other parts of the body. They are connected by ducts to excretory pores located under the base of the antennae and these pores release the excretions outside. In insects small structures called malpighian tubules gather wastes from the blood and throw them into excretory ducts that open in the intestine. In these animals excretions are eliminated together with feces. In arachnids, besides malpighian tubules, there are coxal glands located in the cephalothorax near the limbs that also participate in excretion. Phylum Arthropoda - Image Diversity: arthropod excretory system
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