Control Robot Over Internet

I have built a small robot inspired by the AdventureBot. I've added a third wheel, a horn speaker, an ultrasonic sensor, and a pan/tilt camera. All devices and servos are connected to an IoTiny controller. Everything functions well, including the pan/tilt camera, wheel servo, speaker, and radar. I used the Interface Builder in ARC with several commands to set it up.

I utilized ARC Mobile to download my robot configuration from the cloud (my EZ-Cloud apps), and everything works perfectly. I can control my robot using my smartphone. Later, I used the Remote UI without any issues. Both applications operate smoothly on the local network using my smartphone.

I have two Wi-Fi networks: one dedicated to EZ-Robot and another for my home router. I would like to control my robot over the internet when I am away.

Currently, I am confused. The Remote UI tutorial suggests using port 3184 and making port forwarding changes in the router. On this webpage: Connecting EZB Over Internet, it explains using port 23, but it mentions that "Because EZBs can configure their listening (server) port, we mention TCP port 23 in this document, but it may be changed with the EZB configuration."

I checked the TCP server in ARC for connection #0, and it is set to port 6666. There are so many ports, and I must have misunderstood something. Can you provide the correct procedure to control an EZB robot over the internet?

Here is a picture of my guard dog!