If you use a more recent OS (or at least CUPS) on your server (Dapper is
2 years old and we have already Hardy as a new LTS), you do not need to
configure Avahi to get your printer broadcasted via Bonjour/mDNS. In
CUPS you can enable Bonjour/mDNS broadcasting and then you do not need
to configure anything specific to the printers. And CUPS propagates the
correct device ID so that the clients select the correct driver. If the
client is using CUPS (Linux or Mac OS X), too, system-config-printer (or
whatever printer setup tool it uses) on the client even does not select
a driver at all and the jobs get rendered by the driver installed on the
server. See the "BrowseProtocol" directive in cupsd.conf (see
documentation on http://localhost:631/).

If your server and all your clients use CUPS and are not running Mac OS
X, you do not need Bonjour/mDNS at all. You uses CUPS' IPP broadcasting
which already worked perfectly on Dapper. To set it up, you simply go
into the "Server Settings" of system-config-printer and mark the
appropriate options, so that the server "publishes its shared printers"
and the client "shows printers shared by other systems". These settings
are also available on the "Administration" tab of the CUPS web interface
http://localhost:631/ (if you have a client which does not run Ubuntu or
Fedora).

Note that your ml1610.service file makes Avahi propagating a wrong
device ID:

MDL:Samsung ML-1610;DES:Samsung ML-1610;CLS:PRINTER;

The correct device ID is something like:

MFG:Samsung;MDL:ML-1610;DES:Samsung ML-1610;CLS:PRINTER;

Therefore system-config-printer does not recognize your printer model.

-- 
no driver suggestion for Avahi-discovered printers
https://bugs.launchpad.net/bugs/278271
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