IP Port Forwarding Setup WRT54G3G-ST and DDNS

I am setting up a remotely managed network. I can reach the router fine from the internet but I cannot reach the bridge or the camera through the internet.  On the local network I can "see" or ping every device just fine.  Other routers I have used have a local and global port setting.  It isn't clear to me how this router should be set up.  I have set up static IP addresses for each of the devices.  I am using  DDNS access to the internet that creates another possible factor.
Below is the "Port range forwarding" setting that I have used-  I have tried my hand with the port triggering but it wasn't clear how that applied to what I am trying to accomplish.

The port forwardings look good. You forward port 8580 on the WAN IP address of the router to the local computer 172.16.0.2 and port 1010 to 172.16.0.11.
There are a few possible problems:
1. the router is not connected directly to the internet. If you run the router behind another (gateway) router this won't work. You have to configure the same port forwardings on the first router as well and forward everything to the second router. To check what kind of setup you have, look on the Status tab. If your internet connection IP address is a private IP address, you are not directly connected to the internet.
2. firewalls on the server devices may block traffic.
3. the server may not like NATed requests. For example, depending on your configuration a web server running at 172.16.0.11 may not accept a request coming in for an internet address a.b.c.d which happens to be your router's internet IP address.
For a start I would check if the servers are running properly by opening a connection through telnet. From a command prompt window run
telnet 172.16.0.11 1010
inside your LAN. It should open a connection. Type in anything until you see a reaction and usually the server will prompt with an error and close the connection.
Then test the same again from the internet with the IP address of the router.
telnet a.b.c.d 1010
(a.b.c.d being your internet IP address) If everything works correct, it should work like before. If not, you'll get an error message either immediately or after a time out. The exact error would be good to know for further troubleshooting.

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