It took me a while before I could install the Samsung ML 3051 ND on my new Ubuntu 9.10 Linux box.
Here’s the procedure:
- System->Administration->Printing
- Add a new printer
- choose “others” (parallel or serial port and network options like CUPS, IPP, SAMBA won’t work, )
- insert the printers URI this way http://x.x.x.x:631 where x.x.x.x is the IP address assigned to the printer (yes, you have to know it)
- Go on and choose make and model from given options
- choose the suggested one.
That’s it, it works 
There might be also other working solutions, but this is the first one that worked for me and I’m happy with it
