Create a file xmlrpc with content of the XMLRPC request:

<?xml version="1.0"?>
 <methodCall> 
   <methodName>query_sample</methodName>
   <params>
     <param>
       <value>KS892984Y01-AEROB</value>
     </param>
   </params>
 </methodCall>

and use it with the following command:

curl --data @xmlrpc http://172.16.3.23:8341/