Whenever you made a mistake, or if Ubuntu simply wants to tell you something isn't possible, it will cause the computer to beep. This can become annoying and doesn't really serve much purpose. To turn it off, click System ^ Preferences ^ Sound, and then click the System Beep tab. Then remove the check from the Enable System Beep box. You might want to enable the check in Visual System Beep, because this will flash either the screen or the top-most program's title bar to indicate the same type of error.
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