Things have changed: The magic sysrq keys now work when the system freezes!
I can now reboot with REISUB.
Any ideas how I can take advantage of the sysrq keys to unfreeze the system or 
at least get more debugging info?

I removed almost all *gnome* packages. Don't know if it has anything to
do with it.

Maybe I should do more tests with Ubuntu Gnome or Windows to see if it
happens there as well (hasn't been the case so far).

I also opened the PC to have a look at the connections. They seem to be OK.
The motherboard is a GIGABYTE GA-MA74GM-S2H.
The front USB ports are connected over some 9-pin connectors.
I'm adding some screenshots of the system.

I noticed that there were only 2 connectors on the motherboard for the 4 front 
USB ports (which all work when the system does not freeze) and they were on the 
"F_USB ports" 3 and 4, while 1 and 2 were empty.
Does this matter?


** Attachment added: "motherboard and pc screenshots"
   http://launchpadlibrarian.net/42153077/PC.tar.gz

-- 
kernel lockup when plugging in USB stick
https://bugs.launchpad.net/bugs/514485
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