Asterisk will communicate with ser/openser, with ser/openser as a sip server. Asterisk can either operate as another server, or as a client.
How you put them to work, depends very much on what you want to achieve. If you want ser to act as a load-balancer, or as a registrar, or both? Your saving grace here is that whatever way you setup your ser/openser, the config on asterisk will be minimal.. configure it to know about the server in sip.conf (either as a peer or a user or both), and then direct/accept traffic to and from the ser/openser box via your asterisk config/agi.
For more info on ser/openser, check out
www.iptel.org and
www.openser.org respectively. There are docs on those sites to get you started, and the openser forum on this site will be able to provide answers to specific questions.