Sinha, V.As described in [3], the Mobile Remote Manipulator System Simulator is based on an interconnected network of heterogenous computers. The simulation is divided into modules which run concurrently on multiple computers. Modules are designed so that they perform a specific task which can be used in a variety of simulations. As each of these modules is built, it is necesaary to provide a method for intermachine/intermodule communication. This paper describes various methods which can be used for this type of communication, and also describes various standard data formats which are used to get data from module to module in the MRMS Simulator.en-USTechnical Report