Please refer to the Kaleidescape integration document for details on the commands which can be sent to Kaleidescape directly over IP, however one option is to launch the Kaleidescape app using the 'launch web page / other app' action type. If you enter, for example:
"kscape://launchApp?callerName=DemoPad&returnURL=democontrolhd%3A%2F%2F"
Then this will launch the Kaleidescape app, and will also display a 'back' button which takes you straight back to DemoPad, without needed to shut the app down & go to the iPad / iPhone home screen.