You have to install indicator-applet, than add it to the panel. Usually, that applet should be installed by default, so you just have to add it. Right click on the panel, choose Preferences, search for the applet and double click it.

If you don't want to use the applet, you can use gnome-volume-control (without "-applet"). Go to System->Preferences->Startup Applications and add it there. Now it will appear in the notification area (which may or may not already be part of your gnome panel, add it if it is missing).

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