The problem is solved on my machine - I replaced the SATA cabling with
better quality Akasa latch cables instead of the cheap cables that come
with the motherboards. So far I have installed and run Ubuntu/Hardy and
installed Gentoo (on another partition) and compiled X/Gnome with no
problems. The machine has been rebooted several times and has not frozen
once.

So I can confirm that one possible cause of the error -

[ 231.478375] ata1.00: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x2
frozen

Could be poor quality cabling.

Googling around problems with cheap SATA cabling are very common.

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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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