As suggested by tgardner in #ubuntu-kernel, I am now booting the machine with 
the following line:
/boot/vmlinuz-2.6.32-26-server root=UUID=5626f5d7-0210-432c-9200-ec6a1d599df3 
ro pci=nomsi

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https://bugs.launchpad.net/bugs/688068

Title:
  lucid system randomly locks up, does not recover

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