Aligning Regions to MIDI Notes

Is there any way in Ardour to align an audio region with a MIDI note in another track?

For example, if I have a MIDI region, how can I insert a short sound clip each place a MIDI note occurs?

Or, more simply, is there a way to place a region at the exact on time of a MIDI note?

I realize that I could just build a simple patch for LinuxSampler and use that, but it would just be easier to do it directly in Ardour.