Note: This guide is based on my own trials and the following articles, which did not work for me but were a tremendous help:
If everything has gone as it should, you should now be able to boot Ubuntu from the USB flash device and it should save your changes, restoring them on boot.
Note: this setup only allows to open the truecrypt container on the stick. If you need the full functionality of truecrypt when working on a different client machine where truecrypt is not installed, then you need to copy all the files from the installed directory. When opening the container on a different client machine, nothing will be installed to that client, but you need to have administrator privileges to be able to open the container.