Same here on a Thinkpad T41p using Kubuntu Hardy Alpha 6 and a WPA2
wireless network. Manually invoking wpa_supplicant and dhclient works
fine, wpa_supplicant.conf contains the following:

network = {
  proto = WPA2
  ssid = "MYSSID"
  key_mgmt = WPA-PSK
  pairwise = CCMP
  psk = "MYKEY"
  priority = 5
}

lspci: 02:02.0 Ethernet controller: Atheros Communications, Inc. AR5212
802.11abg NIC (rev 01)

Can't add more to the extensive report of the OP.

-- 
[madwifi] NetworkManager 0.6.6-0ubuntu1 fails to connect to wireless network
https://bugs.launchpad.net/bugs/199802
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