I was still getting this last week. Following recommendation from a
colleague I disabled the Intel VT-d setting in the BIOS
(Security/Virtualisation) and the hang at udevd no longer occurs and
startup is successful.

Thinkpad W520, 12.10 64-bit, 3.5.0-22-generic #34-Ubuntu SMP Tue Jan 8
21:47:00 UTC 2013

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https://bugs.launchpad.net/bugs/1047688

Title:
  Boot fails on udev if USB devices are present

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