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1. winXP computers cannot connect to ubuntu computers
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Install Samba server on your Ubuntu systems. You will need to configure Samba, then you will be able to share files from linux to XP systems.
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2. ubuntu computer cannot connect to other ubuntu computers
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If you want file sharing, then you can use Samba or you can install NFS and share files. Linux to linux, NFS is much simpler and faster than Samba. You may want to look into security. Samba does provide better security than NFS. With a small setup like this, NFS is probably secure enough.
Look in the Tutorials, Networking section for How-to's for both Samba and NFS setups.