Problem is still there.
As I posted here http://ubuntuforums.org/showthread.php?t=598580, feisty kernel 
under gutsy + blacklisting some modules is a way to solve this problem, 
although this causes problems with usb devices (i.e. I can't mount camera 
anymore although feisty could do it with no problems) and cpu scaling.
I guess we'd need a new gutsy kernel or a customized one.

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Hard disk I/O randomly freezes when hald is running and optical drive is empty
https://bugs.launchpad.net/bugs/84603
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