I know this is months old, but that message is typically displayed when your IPhone dose not have the right DNS server address (Or DNS server dose not have ipics address). 

AAA is not a requirement for using an RMS.  IPICS needs a priv15 user account on the router and ssh access enabled.

Hi Frendy, sorry i missed your question, i work with IPICS alot and if you have any further questions, i will try and help you out.  Seems like there are not many people out there using it.  I am just getting started on 4.8.1 at the moment, checking ...