Hi, this bug affects me too since I'am using Ubuntu 14.04
I can confirm the solution posted by Wolf Pichler.
But my problem is that in Ubuntu 14.04 some Packages depends on libusb1.0-0 in 
Version 2:1.0.17-1ubuntu2.
So in my case I can't use the old version libusb-1.0-0_1.0.9~rc3-2ubuntu1.

After I installed the older version suggested by Wolf it worked without
any problems. I was able to stop the deamon without getting an error.
And it was also possible to unplug the card reader without any error
message. Then I did an apt-get upgrade und reinstalled the newer
version. From that moment the errors went back. So stopping the deamon
or unplugging the device will bring the error.

It is possible as described erlier to manually start the deamon but in
my household the other users aren't sudoers but have to work with the
card reader. So this is not a solution.

My device is a REINERSCT Cyberjack RFID Standard.

In my case the error appears spodaric after the system has startet.
Sometimes the error appears and sometimes not.

best regards

dirk

** Also affects: libusb-1.0 (Ubuntu)
   Importance: Undecided
       Status: New

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https://bugs.launchpad.net/bugs/1296288

Title:
  pcscd crashes when disconnecting / reconnecting USB device

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