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How can I launch a GUI session on a remote Ubuntu Desktop via SSH from a non-GUI Linux shell?

I am setting up a test environment, made up of various Linux boxes, and I have the need to launch an instance of Firefox on a remote machine via ssh. The remote machine has Ubuntu Desktop (11) and ...
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set headless ubuntu linux display resolution

We bought a small box as our server and we installed ubuntu linux. We don't plug any display to it, instead, we remote desktop/vnc to the server (using TightVNC). However, the display by default is ...