Using a task killer every once and a while to kill specific apps, like maybe maps, or a game, or another program that doesn't close properly is great. But you don't need a program to do that. Android COMES with a task manager built into it. Go to Settings > Applications > Manage Applications. You can look at all of the running processes and force close them. People will lose battery life from opening a task killer all the time, and leaving it running in memory. As well as killing default applications in the android OS that will just reload anyway.
Having applications not using any CPU cycles sitting in memory, will take NO more battery power then having free memory. The RAM is _ALWAYS_ powered unless the phone is off.
So if you kill a few apps here and there, that may use cycles, or access features when not in use, sure, you might save a little battery power. Otherwise, you're just wasting CPU cycles and power just because you want to fiddle with killing apps.
Yes, I have tested with, and without task killers. and I get better performance without them. And, with killing a few app's here and there with the built in app manager in Android, I get slight, if not negligible battery/performance saves by killing app's like maps, or left over games and things of that nature.