I also got the same connection drop problem with Lucid and WPA2(TKIP).
Switching to WPA2(AES) or disabling authentication in the wireless
access point solved the issue.

Client is an Acer notebook with PRO/Wireless 3945ABG interface. Tried with 
kernel 2.6.31-22-generic and 2.6.32-23-generic
Access point is Planet WAP-4035

At the same time a Toshiba with Atheros AR5001X+ interface and kernel
2.6.28-11-generic (karmic) connects without problem to the same access
point.

-- 
[Lucid] wireless connection keeps dropping - WPA TKIP
https://bugs.launchpad.net/bugs/481432
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