Affects me as well. I find that I have to renable from the
System|Administration|Printers on boot.

Syslog shows:

May  1 10:05:22 gg kernel: [  806.315562] audit_printk_skb: 63 callbacks 
suppressed
May  1 10:05:22 gg kernel: [  806.315568] type=1400 audit(1304269522.507:33): 
apparmor="ALLOWED" operation="mknod" parent=1 profile="/usr/sbin/nmbd" 
name="/var/run/samba/namelist.debug" pid=1321 comm="nmbd" requested_mask="c" 
denied_mask="c" fsuid=0 ouid=0
May  1 10:05:22 gg kernel: [  806.315591] type=1400 audit(1304269522.507:34): 
apparmor="ALLOWED" operation="open" parent=1 profile="/usr/sbin/nmbd" 
name="/var/run/samba/namelist.debug" pid=1321 comm="nmbd" requested_mask="wc" 
denied_mask="wc" fsuid=0 ouid=0
May  1 10:08:29 gg anacron[1399]: Job `cron.daily' terminated
May  1 10:08:29 gg anacron[1399]: Normal exit (1 job run)
May  1 10:17:01 gg CRON[25332]: (root) CMD (   cd / && run-parts --report 
/etc/cron.hourly)
May  1 11:04:20 gg kernel: [ 4344.104025] usb 1-2: new high speed USB device 
using ehci_hcd and address 4
May  1 11:04:20 gg kernel: [ 4344.268614] WARNING! power/level is deprecated; 
use power/control instead
May  1 11:04:20 gg udev-configure-printer: add 
/devices/pci0000:00/0000:00:1d.7/usb1/1-2/1-2:1.1
May  1 11:04:20 gg udev-configure-printer: parent devpath is 
/devices/pci0000:00/0000:00:1d.7/usb1/1-2
May  1 11:04:20 gg udev-configure-printer: Device vendor/product is 04A9:1706
May  1 11:04:20 gg kernel: [ 4344.309361] usblp0: USB Bidirectional printer dev 
4 if 1 alt 0 proto 2 vid 0x04A9 pid 0x1706
May  1 11:04:20 gg kernel: [ 4344.310630] usbcore: registered new interface 
driver usblp
May  1 11:04:20 gg udev-configure-printer: add 
/devices/pci0000:00/0000:00:1d.7/usb1/1-2/1-2:1.1/usb/lp0
May  1 11:04:20 gg udev-configure-printer: failed to claim interface
May  1 11:04:20 gg udev-configure-printer: invalid or missing IEEE 1284 Device 
ID
May  1 11:04:20 gg udev-configure-printer: parent devpath is 
/devices/pci0000:00/0000:00:1d.7/usb1/1-2
May  1 11:04:20 gg udev-configure-printer: MFG:Canon MDL:MP750 SERN:- 
serial:5039E6
May  1 11:04:21 gg kernel: [ 4345.481482] usb 1-2: usbfs: interface 1 claimed 
by usblp while 'usb' sets config #1
May  1 11:04:21 gg hp[25394]: io/hpmud/pp.c 627: unable to read device-id ret=-1
May  1 11:04:22 gg python: io/hpmud/pp.c 627: unable to read device-id ret=-1

Linux gg 2.6.35-29-generic #51-Ubuntu SMP Fri Apr 15 17:13:54 UTC 2011
i686 GNU/Linux

$ apt-cache policy udev
udev:
  Installed: 162-2.2
  Candidate: 162-2.2
  Version table:
 *** 162-2.2 0
        500 http://us.archive.ubuntu.com/ubuntu/ maverick-updates/main i386 
Packages
        100 /var/lib/dpkg/status
     162-2 0
        500 http://us.archive.ubuntu.com/ubuntu/ maverick/main i386 Packages

Printer is a Canon MP750. 
$ lsusb
...
Bus 001 Device 004: ID 04a9:1706 Canon, Inc. PIXMA MP750 Scanner

Possibly related?
https://bugs.launchpad.net/ubuntu/+source/system-config-printer/+bug/459648
[udev-configure-printer /invalid or missing IEEE 1284 Device ID]

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https://bugs.launchpad.net/bugs/691027

Title:
  USB Printer not re-enabled after printer power off

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