Looks to me like you're running out of resources on your RPi device.
So, I've been watching top for awhile thru ssh and the snapshot below is about as busy as it gets (only showing 4 "busiest" tasks). Didn't see any change in free mem past 30 minutes.
top - 21:06:23 up 1 day, 17 min, 2 users, load average: 0.38, 0.36, 0.40
Tasks: 70 total, 1 running, 69 sleeping, 0 stopped, 0 zombie
%Cpu(s): 11.7 us, 14.9 sy, 0.7 ni, 71.5 id, 0.0 wa, 0.0 hi, 1.1 si, 0.0 st
KiB Mem: 448736 total, 248020 used, 200716 free, 44180 buffers
KiB Swap: 102396 total, 0 used, 102396 free, 157248 cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
10617 root 20 0 243m 4820 2704 S 22.1 1.1 14:40.26 cgminer
2213 root 20 0 24452 7464 2340 S 2.3 1.7 20:40.24 wicd
2249 root 20 0 14980 8048 3996 S 1.3 1.8 9:13.03 wicd-monitor
16550 pi 20 0 4808 1620 1032 R 1.3 0.4 0:03.76 top
Edit: Couple hours watching top and cpu loading is the same, though I do see a slight decrease in free memory (about 700KB) -- a little exploration showed it matches increases in the various log files, but this tells me running out of memory is probably not the cause of the random sem_post problem.