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This paper presents a message passing interface called MATRIX for the MPMD (Multiple Program Multiple Data) type parallel application running on a distributed network. The proposed interface provides network abstraction and peer-to-peer message transfer method to the application layer. The interface is designed to have scalability for a large-scale application. The concurrent application established on the proposed interface can be applied to a heterogeneous distributed network composed of multi-architectures and multi-OS machines. This paper describes the concepts, protocols and implementations of the message passing interface. Additionally, we present the remote file transfer and execution protocol called FTXP for large-scale applications on the message passing interface. For the verification of the proposed methods, we present an example of parallel application applied to a surveillance robot system composed of multi-architecture and multi-OS.