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 Here There Be Dragons by John Peel
When Captain Jean-Luc Picard and the crew of the U.S.S. Enterprise receive news of a human planet hidden in the center of an immense stellar cloud, they immediately investigate.

Penetrating the cloud, the Starship crew is shocked to discover a world of knights and serfs lifted right out of Earth’s Middle Ages. Ruthlessly exploiting the planet is a ring of interstellar trophy hunters preying on the immense, native dragonlizards, twenty-feet tall and armored like tanks.

Beaming down, an away team soon becomes embroiled in a web of intrigue and murder. Taken prisoner, Picard, Riker, Data, and Ro must somehow escape and stop the hunters or face destruction from the hunters’ ancient weapon, based on an advanced technology capable of utterly annihilating the Starship Enterprise.