This is on two up-to-date Hardy systems, both with Nvidia chipsets on
ASUS motherboards, with SATA hard drives.

One system absolutely refused to boot after the Hardy upgrade. This did not 
make me very happy.
The other system stalls in the initramfs world about 2 times out of 3 on a 
power-on or reboot sequence.

What did make me happy was a crude workaround (which I do NOT consider a proper 
fix), of
adding "all_generic_ide" to the boot stanza in /boot/grub/menu.lst:

kernel          /boot/vmlinuz-2.6.24-18-generic root=UUID=1e3fbd55-5dfa-
4cee-b9c7-8bc8bd3982ff ro splash all_generic_ide

The hang has not happened since then. I have no idea of the impact of
this change on performance, etc.

See also bug #222176 and #227003

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Ubuntu often stops when starting up
https://bugs.launchpad.net/bugs/172563
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