This is based on elyssa so i cannot say for certain if it will work with other releases.
This uses a part of the synce program to allow access to the USB port.
Firstly, for elyssa we need install the ubuntu svn package:
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sudo apt-get install subversion build-essential
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svn co http://synce.svn.sourceforge.net/svnroot/synce/trunk/usb-rndis-lite
cd usb-rndis-lite/
make
sudo ./clean.sh
sudo make install
Next , click the network icon in elyssa task bar and select the USB connection.
That should be it you!