You only need to kill the parent process of these zombie processes, and they will go away. This works in Mavericks and Xcode 5.1, at least:
$ ps -edf | \
grep [x]pcproxy_sim | awk '{print $3}' | \
sort | uniq | \
xargs -I{} echo "kill -9 {}" | sh
The first line lists all processes. The second line extracts the PPID
column (parent PID) of xpcproxy_sim
processes. The third line removes duplicate entries, and the last line generates the command to kill each process and passes it to a shell for execution.