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Stick the commands in /etc/rc.d/rc.local without the sudo. And I don't think you actually need the rmmod line in rc.local. My lsmod doesn't show that module.
Thanx DonnieP, I did as you have told. It's working perfectly.
In Slackware13.1 All I had to do was open /etc/rc.d/rc.local and add the following lines...
rmmod saa7134
modprobe saa7134 card=42 tuner=51
In Ubuntu 10.04
open /etc/rc.local add the following lines
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