Public bug reported:

This issue is recurring again on Ubuntu MATE 16.04. It happens
intermittently on two different machines, both fully updated. The
assistive technologies are not loaded on startup (diabled in "Startup
Applications" but it still occurs.

There was an old bug from 2010 which has now expired as has the related 
upstream bug.
https://bugs.launchpad.net/ubuntu/+source/at-spi/+bug/477978

There are workarounds but these are hacks:
https://ubuntu-mate.community/t/issue-shutting-down-16-04-at-spi-registryd-desktop/5435
https://ubuntuforums.org/showthread.php?t=2321728
https://askubuntu.com/questions/792638/ubuntu-mate-16-04-restart-shut-down-halts-due-to-a-not-responding-program-how-t
 

A proper fix would be welcome.

I note that all the recent reports linked to above relate to Ubuntu MATE
only.

** Affects: at-spi
     Importance: Unknown
         Status: Unknown

** Affects: ubuntu-mate
     Importance: Undecided
         Status: New

** Affects: at-spi (Ubuntu)
     Importance: Undecided
         Status: New

** Also affects: ubuntu-mate
   Importance: Undecided
       Status: New

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https://bugs.launchpad.net/bugs/1605224

Title:
  at-spi-registryd.desktop not responding on shutdown

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