Tardigrades

The brain includes multiple lobes, and is attached to a large ganglion below the oesophagus, from which a double ventral nerve cord runs the length of the body. The cord possesses one ganglion per segment, each of which produces lateral nerve fibres that run into the limbs. Many species possess a pair of rhabdomeric pigment-cup eyes, and there are numerous sensory bristles on the head and body.
Although some species are parthenogenetic, both males and females are usually present, each with a single gonad located above the intestine. Two ducts run from the testis in males, opening through a single pore in front of the anus. In contrast, females have a single duct opening either just above the anus or directly into the rectum, which thus forms a cloaca.
Tardigrades are oviparous, and fertilisation is usually external. Mating occurs during the moult with the eggs being laid inside the shed cuticle of the female and then covered with sperm. A few species have internal fertilisation, with mating occurring before the female fully sheds her cuticle. In most cases, the eggs are left inside the shed cuticle to develop, but some attach them to the nearby substrate.