Nuisance partly solved when resuming from SUSPEND (I did not try hibernation 
yet). Hardware: HP 2510p laptop.
Go to menu System --> Preferences --> Power Management
Tab: General, uncheck (at bottom) "Use sound to notify in event of an error"

The beeping nuisance occurred on my laptop as a result of upgrading from
gutsy to hardy so the beeping probably is a hardy bug. The fact that
Ubuntu detects an error might be an older problem. What surprises me is
that a few suspend-related messages are written to /var/log/messages
only when the laptop resumes ("suspending consoles", "ACPI: PCI
interrupt", "Stopping disk", "ricoh-mmc: Suspending").

The hint for turning off the beeping was found here (tamias' 11:53 AM post):
http://ubuntuforums.org/archive/index.php/t-766402.html
[SOLVED] DPMS issues with suspend and laptop lid

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System beeps when resuming from hibernation
https://bugs.launchpad.net/bugs/229936
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