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By using IP fingerprinting, you could be lucky to find out estimate of operating system running on the remote machine. Check out nmap -O switch.
I can't think of a way how to determine any infromation about hardware.
Maybe some social-engineering tricks could do. For example, on many web servers, there are testing files with phpinfo() function used. Just guess its name (phpinfo.php, info.php, test.php ...) and you could be lucky to find great deal of system information.
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