Thanks for your explanation.  I am satisfied with the way my system
works now.  I get the grub menu and can start either Ubuntu or Windows.
I do not have the secure boot, but I never had it in previous systems.
Is there really any advantage of having secure boot?

When I press F12, the Bios shows entries for other drives, such as my
USB flash drive with Ubuntu.  For the hard drive, it only shows one
entry labelled "Windows Boot Manager".  This is the same before when it
was always booting Windows, and also now when it starts Grub.

I assume that others will have the same problem with only starting windows, and 
some of them could work around the problems with the command:
"bcdedit /set {bootmgr} path \EFI\ubuntu\shimx64.efi"
I plan to add an entry to the Forum listing this as a possible solution for the 
case where a machine will only boot Windows.

As you suggested, I could try the same command with shimx64.efi.
However my system is working and I tend to leave a working system alone.
If you wish to learn more, I am willing to do further tests.  Otherwise,
I suggest that this bug could be listed as closed.

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https://bugs.launchpad.net/bugs/1641793

Title:
  Invalid Signature detected -- must uncheck secure boot

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