After a recent upgrade from 9.04 to 9.10 I am experiencing this same
problem.  In my situation when restarting the printer after a reboot the
lsusb displays the printer, but I've tried restarting cups and the
printer is not detected.  I've also tried manually specifying the bus
and device id from the lsusb output in the hp-setup command with no
luck.

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Ubuntu 9.10 does not detect HP LaserJet 1020 on cold-plugging
https://bugs.launchpad.net/bugs/491133
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