Martin,

On current Lucid, the following scenarios now work as I expect.
1. Insert the audio CD when the drive is already attached. This works. Comment 
#4.
2. Attach the entire drive to the computer while the audio CD is already 
inserted. This works. This comment #6.

Attaching latest udev log FYI.

-- 
rhythmbox doesn't recognize USB CD drive
https://bugs.launchpad.net/bugs/546335
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