Run your grub update to scan and add other OS' on all attached drives to the menu boot menu.
$ sudo update-grub
If Ubuntu isn't currently installed:
Manually use create an partition for installing Ubuntu with a Partition Manager. You can use gparted from the live disk.
Install Ubuntu. The fresh install will find your other install Operating Systems and add them to the boot menu.
Some examples from ubuntuforums.org where this works:
http://ubuntuforums.org/showthread.php?t=2253963
Failed to get canonical path of /cow
After the install you may have to run os-prober
.