I also had the hard freeze on Lucid with an Atheros-based wireless card.

I installed the "linux-backports-modules-wireless-lucid-generic" and the 
problem seems to be fixed.
See bug 426130 for details:
https://bugs.launchpad.net/ubuntu/+source/linux/+bug/426130

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https://bugs.launchpad.net/bugs/908335

Title:
  Kernel Hard Freezing Very Often

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