My guess is that you have the $OA_HOME UNIX Environment variable set, pointing to an older installation of OpenAccess. You should really have each tool use the OpenAccess version that it is shipped with.
Looking at the versions mentioned in the log files, they both appear to use 22.41.010 - so I'm not sure what you can have this set to.
I would recommend doing:
unsetenv OA_HOME (if using csh)
unset OA_HOME (if using ksh or bash)
before starting Assura (or Virtuoso).
There's also a possibility that your installations were configured incorrectly - so maybe you can check the "share/oa" link in $ASSURAHOME and $CDSHOME (or wherever "cds_root virtuoso" points) to see that it's pointing to:
UNIX_183> ls -l $ASSURAHOME/share/oa
lrwxrwxrwx 1 ccops ccusers 16 Nov 16 2011 /apps/ASSURA41/615/04.12.011/share/oa -> ../oa_v22.41.010/
UNIX_184> ls -l $CDSHOME/share/oa
lrwxrwxrwx 1 ccops ccusers 16 Jul 29 2011 /apps/IC615/06.15.505/share/oa -> ../oa_v22.41.010/
UNIX_185> assura -W
UNIX_186> virtuoso -W