I can confirm this problem.
Using ipw3945 trying to connect to wpa enabled d-link di624 router.
When setting the network to open it connects perfectly. Obviously this is not a 
good permanent solution. Neither is rebooting the router which seems to 
alleviate the problem from time to time.
Also, the connection when it succeeds is not steady even when the machine is in 
an unobstructed path in a close radius around the router.
I have suspicions the cause of the problem is avahi-autoipd. I don't know how 
to manually invoke the wireless connection using wpa. 
Attached is a detailed summary of the 14 packets captured on my wireless card 
when trying to connect to the router.
As can be seen my card is assigned a avahi ip which I disabled. But even 
enabling avahi doesn't help.


** Attachment added: "Handshake packets before connection is dropped"
   http://launchpadlibrarian.net/8746658/wireless

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With ipw3945 adapter the NM doesn't connect to an ad-hoc network with wpa 
encryption
https://bugs.launchpad.net/bugs/113526
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Bugs, which is the bug contact for Ubuntu.

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