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This paper discusses technical issues related to delivery and control of IP multimedia services, such as multimedia conferencing, involving heterogeneous end terminals. In particular, it proposes the design of an experimental system for interworking between InterAsterisk exchange Protocol and RSW session and call control signaling protocols. This IP videoconferencing interworking system is composed of two core units for supporting delivery of sessions and streams. These units perform various translation functions for transparent establishment and control of multimedia sessions across IP networking environment, including, session conversion, media conversion and address translation.