K. Hedayat 
  Internet Draft                                          Brix Networks 
  Expires: December 2006                                       P. Jones 
                                                    Cisco Systems, Inc. 
                                                        A. Roychowdhury 
                                                                 Hughes 
                                                         C. SivaChelvan 
                                                    Cisco Systems, Inc. 
                                                            N. Stratton 
                                                                        
                                                              June 2006 
  
     An Extension to the Session Description Protocol (SDP) for Media 
                                Loopback 
                   draft-ietf-mmusic-media-loopback-03 
                                      
  
 Status of this Memo  
     
     
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 Copyright Notice 
  
    Copyright (C) The Internet Society (2006). 
     
  
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 Abstract 
     
    The wide deployment of Voice over IP (VoIP), Real-time Text and 
    Video over IP services has introduced new challenges in managing 
    and maintaining voice/real-time Text/video quality, reliability, 
    and overall performance.  In particular, media delivery is an area 
    that needs attention.  One method of meeting these challenges is 
    monitoring the media delivery performance by looping media back to 
    the transmitter.  This is typically referred to as "active 
    monitoring" of services.   Media loopback is especially popular in 
    ensuring the quality of transport to the edge of a given VoIP, 
    Real-time Text or Video over IP service.  Today in networks that 
    deliver real-time media, short of running 'ping' and 'traceroute' 
    to the edge, service providers are left without the necessary tools 
    to actively monitor, manage, and diagnose quality issues with their 
    service.  The extension defined herein adds new SDP media 
    attributes which enables establishment of media sessions where the 
    media is looped back to the transmitter. Such media sessions will 
    serve as monitoring and troubleshooting tools by providing the 
    means for measurement of more advanced VoIP, Real-time Text and 
    Video Over IP performance metrics. 
     
     
 Table of Contents 
     
     
    1. Introduction..................................................3 
    2. Terminology...................................................3 
    3. Offering Entity Behavior......................................4 
    4. Answering Entity Behavior.....................................4 
    5. SDP Constructs Syntax.........................................4 
       5.1 Loopback Type Attribute...................................4 
       5.2 Loopback Mode Attribute...................................6 
       5.3 Generating the Offer for Loopback Session.................6 
       5.4 Generating the Answer for Loopback Session................7 
       5.5 Offerer Processing of the Answer..........................8 
       5.6 Modifying the Session.....................................8 
    6. RTP Requirements..............................................8 
    7. RTCP Requirements.............................................9 
    8. Examples......................................................9 
       8.1 Offer for specific media loopback type....................9 
       8.2 Offer for choice of media loopback type..................10 
       8.3 Offer for choice of media loopback type with 
       rtp-start-loopback...........................................11 
       8.4 Response to INVITE request rejecting loopback media......12 
       8.5 Response to INVITE request rejecting loopback media with 
       rtp-start-loopback...........................................13 
    9. Security Considerations......................................14 
  
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    10. IANA Considerations.........................................14 
    11. Acknowledgements............................................14 
    12. References..................................................14 
     
  
 1. Introduction 
  
  
    The overall quality, reliability, and performance of VoIP, 
    Real-time Text and Video over IP services rely on the performance 
    and quality of the media path.  In order to assure the quality of 
    the delivered media there is a need to monitor the performance of 
    the media transport.  One method of monitoring and managing the 
    overall quality of VoIP, Real-time Text and Video over IP Services 
    is through monitoring the quality of the media in an active 
    session.  This type of "active monitoring" of services is a method 
    of pro-actively managing the performance and quality of VoIP based 
    services. 
     
    The goal of active monitoring is to measure the media quality of a 
    VoIP, Real-time Text or Video over IP session.  A way to achieve 
    this goal is to request an endpoint to loop media back to the other 
    endpoint and to provide media statistics (e.g., RTCP and RTCP XR 
    information).  Another method involves deployment of special 
    endpoints that always loop incoming media back for sessions.  
    Although the latter method has been used and is functional, it does 
    not scale to support large networks and introduces new network 
    management challenges.  Further, it does not offer the granularity 
    of testing a specific endpoint that may be exhibiting problems. 
     
    The extension defined in this memo introduces new SDP media 
    attributes that enable establishment of media sessions where the 
    media is looped back to the transmitter.  The offer/answer model 
    [RFC3264] is used to establish a loopback connection.  Furthermore, 
    this extension provides guidelines on handling RTP [RFC3550], as 
    well as usage of RTCP [RFC3550] and RTCP XR [RFC3611] for reporting 
    media related measurements. 
     
     
 2. Terminology 
  
  
    In this document, the key words "MUST", "MUST NOT", "REQUIRED", 
    "SHALL", "SHALL NOT", "SHOULD", "SHOULD NOT", "RECOMMENDED", "MAY", 
    and "OPTIONAL" are to be interpreted as described in RFC 2119 
    [RFC3264] and indicate requirement levels for compliant 
    implementations. 
     

  
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 3. Offering Entity Behavior 
     
     
    An offering entity compliant to this memo and attempting to 
    establish a media session with media loopback MUST include 
    "loopback" media attributes for each individual media description 
    in the offer message.  The offering entity MUST look for the 
    "loopback" media attributes in the media description(s) of the 
    response from the answering entity for confirmation that the 
    request is accepted. 
     
     
 4. Answering Entity Behavior 
  
     
    An answering entity compliant to this specification and receiving 
    an offer containing media descriptions with the "loopback" media 
    attributes, MUST acknowledge the request by including the received 
    "loopback" media attributes for each media description in its 
    response.  The server MAY reject the "loopback" request for 
    specific media types as defined in section 5.4.1 of this 
    specification.  
     
    An answering entity that is not compliant to this specification and 
    which receives an offer with the "loopback" media attributes MAY 
    ignore the attribute and treat the incoming offer as a normal 
    request. 
         
  
 5. SDP Constructs Syntax 
  
  
    Two new media attributes are defined: one indicates the type of 
    loopback and one indicates the mode of the loopback. 
     
     
 5.1 Loopback Type Attribute 
     
     
    The loopback type is a property media attribute with the following 
    syntax:  
     
       a=loopback:<loopback-type> 
     
    Following is the Augmented BNF [RFC2234] for loopback-type: 
     
    loopback-type = 1*2(loopback-type-choice) [ space "rtp-start-
    loopback" ] 
  
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    loopback-type-choice = "rtp-pkt-loopback" | "rtp-media-loopback” | 
    “rtp-start-loopback" 
     
    The loopback type is used to indicate the type of loopback.  The 
    loopback-type values are rtp-pkt-loopback, rtp-media-loopback, and 
    rtp-start-loopback. 
     
    rtp-pkt-loopback: In this mode, the RTP packets are looped back to 
    the sender at a point before the encoder/decoder function in the 
    receive direction to a point after the encoder/decoder function in 
    the send direction.  This effectively re-encapsulates the RTP 
    payload with the RTP/UDP/IP overheads appropriate for sending it in 
    the reverse direction.  Any type of encoding related functions, 
    such as packet loss concealment, MUST NOT be part of this type of 
    loopback path. 
     
    rtp-media-loopback: This loopback is activated as close as possible 
    to the analog interface and after the decoder so that the RTP 
    packets are subsequently re-encoded prior to transmission back to 
    the sender. 
     
    rtp-start-loopback: In certain scenarios it is possible that the 
    media transmitted by the offering entity is blocked by a network 
    element until the answering entity starts transmitting packets.  
    One example of this scenario is the presence of an RTP relay in the 
    path of the media.  RTP relays exist in VoIP networks for purpose 
    of NAT and Firewall traversal.  If an RTP relay is present the 
    offering entity’s packets are dropped by the RTP relay until the 
    answering entity has started transmitting media and the media state 
    within the RTP relay is established.  This loopback attribute is 
    used to specify the media type for transmitting media packets by 
    the answering entity prior to the loopback process for the purpose 
    of setting media state within the network.  In the presence of this 
    loopback attribute the answering entity will transmit media, 
    according to the description that contains this attribute, until it 
    receives media from the offering entity.  The answering entity MAY 
    include this attribute in the answer if it is not present in the 
    offer.  This may be necessary if the answering entity is aware of 
    NAT’s, firewalls, or RTP relays on the path of the call. In this 
    case the offering entity MUST accept media according to 
    rtp-start-loopback attribute.  After the first media packet is 
    received from the offering entity, the answering entity MUST 
    terminate the transmission of rtp-start-loopback media and MUST 
    start looping back media as defined by the other loopback 
    attributes present in the offer.  If an offer includes the 
    rtp-start-loopback attribute it MUST also include at least one 
    other attribute as defined in this section.  The offering entity is 
    able to filter rtp-start-loopback packets from other types of 
    loopback with the payload type of the packet. The media port number 
  
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    for rtp-start-loopback MUST be the same as the corresponding 
    loopback attribute that will take over after the reception of first 
    media packet from the offering entity. 
     
    It is recommended that an offering entity specifying media with 
    either rtp-pkt-loopback or rtp-media-loopback attribute also 
    specify the rtp-start-loopback attribute unless the offering entity 
    is certain that its media will not be blocked by a network entity 
    as explained above. 
     
     
 5.2 Loopback Mode Attribute 
     
     
    The loopback mode is a value media attribute that is used to 
    indicate the mode of the loopback.  These attributes can be viewed 
    as additional mode attributes similar to sendonly, recvonly, etc.  
    The syntax of the loopback mode media attribute is: 
     
       a=<loopback-mode> 
     
    The loopback-mode values are loopback-source and loopback-mirror. 
     
    loopback-source: This attribute specifies that the sender is the 
    media source and expects the receiver to act as a loopback-mirror. 
     
    loopback-mirror: This attribute specifies that the receiver will 
    mirror (echo) all received media back to the sender of the RTP 
    stream.  No media is generated locally by the receiver for 
    transmission in the mirrored stream unless rtp-start-loopback is 
    requested 
     
    The loopback mode attribute does not apply to rtp-start-loopback 
    attribute and MUST be ignored if received by the answering entity. 
     
     
 5.3 Generating the Offer for Loopback Session 
     
     
    If an offerer wishes to make a loopback request, it MUST include 
    both the loopback-type and loopback-mode attribute in a valid SDP 
    offer: 
     
    Example:   a=loopback:rtp-media-loopback 
               a=loopback-source 
     
    Note: A loopback offer in a given media description MUST NOT 
    contain the standard mode attributes sendonly, recvonly, sendrecv 
    or inactive. 
  
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    The offerer may offer more than one loopback-type in the SDP offer. 
    In this case the answer MUST include only one of the loopback types 
    that are accepted by the answerer.  The answerer SHOULD give 
    preference to the first loopback-type in the SDP offer. 
     
    For loopback-source media (e.g. audio) streams, the port number and 
    the address in the offer indicate where the offerer would like to 
    receive the media stream.  The payload type numbers indicate the 
    value of the payload the offerer expects to receive, and would 
    prefer to send.  However, the answer might indicate a different 
    payload type number for the same codec.  In that case, the offerer 
    MUST send the payload type received in the answer. 
     
    Note: NAT devices may change the actual port number that is used 
    for transmission and the expected receive port. 
     
     
  
 5.4 Generating the Answer for Loopback Session 
     
     
    If an answerer wishes to accept the loopback request it MUST 
    include both the loopback mode and loopback type attribute in the 
    answer. If a stream is offered with loopback-source or 
    loopback-mirror attributes, the corresponding stream MUST be 
    loopback-mirror or loopback-source respectively, provided that 
    answerer is capable of supporting the requested loopback-type.   
     
    For example, if the offer contains: 
     
       a=loopback:rtp-media-loopback 
       a=loopback-source 
     
    The answer that is capable of supporting the offer MUST contain: 
     
       a=loopback:rtp-media-loopback  
       a=loopback-mirror 
     
    As previously stated if a stream is offered with multiple loopback 
    type attributes, the corresponding stream MUST contain only one 
    loopback type attribute selected by the answerer. 
     
    For example, if the offer contains: 
     
       a=loopback:rtp-media-loopback rtp-pkt-loopback 
       a=loopback-source 
     

  
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    The answer that is capable of supporting the offer and chooses to 
    loopback the media using the rtp-media-loopback type MUST contain: 
     
       a=loopback:rtp-media-loopback  
       a=loopback-mirror 
     
     
  
 5.4.1 Rejecting the Loopback Offer 
     
     
    An offered stream with loopback-source MAY be rejected if the 
    loopback-type is not specified, the specified loopback-type is not 
    supported, or the endpoint cannot honor the offer for any other 
    reason.  The Loopback request may be rejected by setting the media 
    port number to zero in the answer as per RFC 3264 [RFC3264]. 
     
     
 5.5 Offerer Processing of the Answer 
     
     
    The answer to a loopback-source MUST be loopback-mirror.  The 
    answer to a loopback-mirror MUST be loopback-source.  In addition, 
    the "m=" line MUST contain at least one codec that the answerer is 
    willing to both send and receive. 
     
    If the answer does not contain a=loopback-mirror or 
    a=loopback-source or contains any other standard mode attributes, 
    it is assumed that the loopback extensions are not supported by the 
    target UA. 
     
     
 5.6 Modifying the Session 
     
     
    At any point during the loopback session, either participant may 
    issue a new offer to modify the characteristics of the previous 
    session.  In case of SIP this is defined in section 8 of RFC 3264 
    [RFC3264].  This also includes transitioning from a normal media 
    processing mode to loopback mode, and vice a versa. 
     
     
 6. RTP Requirements 
     
     
    An answering entity that is compliant to this specification and 
    accepting a media with rtp-pkt-loopback loopback-type MUST loopback 
    the incoming RTP packets while re-generating only the SSRC field of 
    the RTP header.  Note that during the rtp-pkt-loopback mode the 
  
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    answering entity does not have control over the encoding of the 
    media and cannot perform certain functions including congestion 
    control on the looped back media. However, since the purpose of the 
    loopback is to characterize the round-trip path at the RTP level, 
    this limitation is acceptable.  
     
    An answering entity that is compliant to this specification and 
    accepting a media with rtp-media-loopback loopback-type MUST 
    transmit all received media back to the sender. The incoming media 
    MUST be treated as if it were to be played (e.g. the media stream 
    MAY receive treatment from PLC algorithms).  The answering entity 
    MUST re-generate all the RTP header fields as it would when 
    transmitting media. The answering entity MAY choose to encode the 
    loopback media according to any of the media descriptions supported 
    by the offering entity. Furthermore, in cases where the same media 
    type is looped back, the answering entity MAY choose to preserve 
    number of frames/packet and bitrate of the encoded media according 
    to the received media. 
     
         
 7. RTCP Requirements 
  
  
    The use of the loopback attribute is intended for monitoring of 
    media quality of the session.  Consequently the media performance 
    information should be exchanged between the offering and the 
    answering entities.  An offering or answering entity that is 
    compliant to this specification SHOULD support RTCP per [RFC3550] 
    and RTCP-XR per RFC 3611 [RFC3611].  Furthermore, if the client or 
    the server choose to support RTCP-XR,  they SHOULD support RTCP-XR 
    Loss RLE report block, Duplicate RLE report block, Statistics 
    Summary report block, and VoIP Metric Reports Block per sections 
    4.1, 4.2, 4.6, and 4.7 of  RFC 3611 [RFC3611].  The client and the 
    server MAY support other RTCP-XR reporting blocks as defined by RFC 
    3611 [RFC3611]. 
     
     
 8. Examples  
  
  
    This section provides examples for media descriptions using SDP for 
    different scenarios.  The examples are given for SIP-based 
    transactions and are abbreviated and do not show the complete 
    signaling for convenience. 
     
     
 8.1 Offer for specific media loopback type 
     
     
  
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    A client sends an INVITE request with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-media-loopback 
    a=loopback-source 
     
    The client is offering to source the media and expects the server 
    to mirror the RTP stream per rtp-media-loopback loopback type. 
     
    A server sends a response with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-media-loopback 
    a=loopback-mirror 
     
    The server is accepting to mirror the media from the client at the 
    media level. 
     
     
 8.2 Offer for choice of media loopback type 
     
     
    A client sends an INVITE request with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-media-loopback rtp-pkt-loopback 
    a=loopback-source 
     
  
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    The client is offering to source the media and expects the server 
    to mirror the RTP stream at either the media or rtp level. 
     
    A server sends a response with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-pkt-loopback 
    a=loopback-mirror 
     
    The server is accepting to mirror the media from the client at the 
    packet level. 
     
     
 8.3 Offer for choice of media loopback type with rtp-start-loopback 
     
     
    A client sends an INVITE request with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-media-loopback rtp-pkt-loopback 
    a=loopback-source 
    m=audio 49170 RTP/AVP 100 
    a=loopback:rtp-start-loopback 
     
    The client is offering to source the media and expects the server 
    to mirror the RTP stream at either the media or rtp level.  The 
    client also expects the server to source media until it receives 
    packets from the server per media described with the 
    rtp-start-loopback attribute. 
     
    A server sends a response with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
  
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    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-pkt-loopback 
    a=loopback-mirror 
    m=audio 49170 RTP/AVP 100 
    a=rtpmap:100 pcmu/8000 
    a=loopback:rtp-start-loopback 
     
    The server is accepting to mirror the media from the client at the 
    packet level.  The server is also accepting to source media until 
    it receives media packets from the client. 
     
     
 8.4 Response to INVITE request rejecting loopback media 
     
     
    A client sends an INVITE request with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-media-loopback 
    a=loopback-source 
     
    The client is offering to source the media and expects the server 
    to mirror the RTP stream at the media level. 
     
    A server sends a response with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 0 RTP/AVP 0 
    a=loopback:rtp-media-loopback 
    a=loopback-mirror 
     

  
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    NOTE: Loopback request may be rejected by either not including the 
    loopback mode attribute (for backward compatibility) or setting the 
    media port number to zero, or both, in the response. 
     
     
 8.5 Response to INVITE request rejecting loopback media with 
     rtp-start-loopback 
     
     
    A client sends an INVITE request with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 49170 RTP/AVP 0 
    a=loopback:rtp-media-loopback 
    a=loopback-source 
    m=audio 49170 RTP/AVP 100 
    a=loopback:rtp-start-loopback 
     
    The client is offering to source the media and expects the server 
    to mirror the RTP stream at the media level.  The client also 
    expects the server to source media until it receives packets from 
    the server per media described with the rtp-start-loopback 
    attribute. 
     
    A server sends a response with SDP which looks like: 
     
    v=0 
    o=user1 2890844526 2890842807 IN IP4 126.16.64.4 
    s=Example 
    i=An example session 
    e=user@example.com 
    c=IN IP4 192.168.0.12/127 
    t=0 0 
    m=audio 0 RTP/AVP 0 
    a=loopback:rtp-media-loopback 
    a=loopback-mirror 
    m=audio 0 RTP/AVP 0 
    a=loopback:rtp-start-loopback 
     
    NOTE: Loopback request may be rejected by either not including the 
    loopback mode attribute (for backward compatibility) or setting the 
    media port number to zero, or both, in the response. 
     
  
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 9. Security Considerations 
     
     
    The security considerations of [RFC3261] apply. Furthermore, given 
    that media loopback may be automated without the end user's 
    knowledge, the server of the media loopback should be aware of 
    denial of service attacks. It is recommended that sessions with 
    media loopback are authenticated and the frequency of such sessions 
    is limited by the server.  
     
     
 10. IANA Considerations 
     
     
    There are no IANA considerations associated with this 
    specification. 
  
  
 11. Acknowledgements 
     
     
    The authors wish to thank Nagarjuna Venna, Flemming Andreasen, Jeff 
    Bernstein, Paul Kyzivat, and Dave Oran for their comments and 
    suggestions. 
     
     
 12. References  
  
  
       [RFC3261] Rosenberg, J., Schulzrinne, H., Camarillo, G., 
                  Johnston, A., Peterson, J., Sparks, R., Handley, M. 
                  and E. Schooler, "SIP: Session Initiation Protocol", 
                  RFC 3261, STD 1, June 2002. 
     
     
       [RFC3264] Rosenberg, J. and H. Schulzrinne, "An Offer/Answer 
                  Model with the Session Description Protocol (SDP)", 
                  RFC 3264, STD 1, June 2002. 
     
     
       [RFC3550] Schulzrinne, H., Casner, S., Frederick, R. and V. 
                  Jacobson, "RTP: A Transport Protocol for Real-Time 
                  Applications", RFC 3550, STD 1, July 2003. 
     
     
       [RFC3611] Almeroth, K., Caceres, R., Clark, A., Cole, R., 
                  Duffield, N., Friedman, T., Hedayat, K., Sarac, K. 
  
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                  and M. Westerlund, "RTP Control Protocol Extended 
                  Reports (RTCP XR)", RFC 3611, STD 1, November 2003.  
     
     
       [RFC2234] Crocker, P. Overell, "Augmented ABNF for Syntax 
                  Specification: ABNF”, RFC 3611, STD 1, November 1997. 
  
  
 Authors' Addresses 
     
     
       Kaynam Hedayat 
       Brix Networks 
       285 Mill Road 
       Chelmsford, MA  01824 
       US 
     
       Phone: +1 978 367 5611 
       EMail: khedayat@brixnet.com 
       URI:   http://www.brixnet.com/ 
     
     
       Paul E. Jones 
       Cisco Systems, Inc. 
       7025 Kit Creek Rd. 
       Research Triangle Park, NC  27709 
       US 
     
       Phone: +1 919 392 6948 
       EMail: paulej@packetizer.com 
       URI:   http://www.cisco.com/ 
        
     
       Arjun Roychowdhury 
       Hughes Systique Corp. 
       15245 Shady Grove Rd, Ste 330 
       Rockville MD 20850 
       US 
     
       Phone: +1 301 527 1629 
       EMail: arjun@hsc.com 
       URI:   http://www. hsc.com/ 
     
     
       Chelliah SivaChelvan 
       Cisco Systems, Inc. 
       2200 East President George Bush Turnpike 
       Richardson, TX  75082 
       US 
  
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       Phone: +1 972 813 5224 
       EMail: chelliah@cisco.com 
       URI:   http://www.cisco.com/ 
     
     
       Nathan Stratton 
        
       663 Salem St. 
       Lynnfield, MA 01940 
        
     
       Phone: +1 410 908 7587 
       EMail: nathan@robotics.net 
       URI:   http://www.robotics.net/ 
     
     
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 Disclaimer of Validity 
     
     
    This document and the information contained herein are provided on 
    an "AS IS" basis and THE CONTRIBUTOR, THE ORGANIZATION HE/SHE 
  
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    REPRESENTS OR IS SPONSORED BY (IF ANY), THE INTERNET SOCIETY AND 
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    Funding for the RFC Editor function is currently provided by the 
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