According to 
https://help.ubuntu.com/community/Lubuntu/Documentation/RemoveOldKernels the 
purge-old-kernels is part of the bikeshed package.  To install it you will need 
to do:
  sudo apt-get install bikeshed 
To run it you will need to do
  sudo purge-old-kernels
You can confirm if it (and any other tidying up actions) have helped by 
comparing the output of 
  df -h
before and after you run the command.  I usually see my /boot Mounted on point 
go from ~100% Use to ~50% Use.  If you have prombles with disk space on other 
file-systems then 
  sudo apt-get autoremove 
may help you.  After that I would recommend that you try running the Disk Usage 
Analyser program.  It provides a relatively intuitive GUI that helps locate 
where most of your disk space is being used.  It will then be up to the 
operator to work out what files can and cannot be removed in an attempt to free 
space.  I would advise that you do not remove anything you do not know the 
source or use of.  Hopefully some searching can aid in identifying where most 
files come from though.

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https://bugs.launchpad.net/bugs/798414

Title:
  update-initramfs should produce a more helpful error when there isn't
  enough  free space

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