Complex sentence: The legacy of Spacelab lives on in the form of the MPLMs and the ATV and Cygnus spacecraft used to transfer payloads to the International Space Station, the Columbus module as well as the Harmony and Tranquility modules of the International Space Station.
Split into simpler sentences: The legacy of Spacelab lives on in the form of the MPLMs and the systems derived from it. These system include the ATV and Cygnus spacecraft used to transfer payloads to the International Space Station, and the Columbus, Harmony and Tranquility modules of the International Space Station.