Hi,
I've been struggling with this same problem for some time.
Outline of the issue (at least for me)...
Motorola Surfboard SB6121 Cable Modem using Time Warner Cable (now Comcast) connected to the second generation AirPort Express Wireless Router.
The AirPort kept blinking an amber light and was loosing the DNS server that was supposed to be assigned to it from the Cable Modem. I could use the AirPort even with the blinking amber light to access the internet then eventually the connection would get lost. Even the AirPort Utility couldn't find the AirPort. Reboot everything and get a green light for a second on the AirPort Express then the light turns to blinking amber again, and the whole process repeats.
I tried lots of stuff found here and other forums around the internet, and none of it worked.
Then, I lucked out and clicked a couple of settings, and it is rock solid and faster with a solid green light that is steady.
My best guess is the Apple Airport Express is technologically ahead of the Motorola Modem especially when it comes to IPv6.
If you look at the Configuration tab in the Modem at 192.168.100.1, it clearly states, "Modem's IP Mode" = "IPv4 only". This is what gave me the idea to check the AirPort Express as I knew it did the newer IPv6 and defaults to include that protocol automatically.
In AirPort Utility, Manual Setup, Internet, NAT, Configure Port Mappings..., IPv6, I changed the IPv6 Mode: to "Link-local only".
This fixed the issue and the light has been solid green and the connection solid ever since!
Hope someone finds this helpful.
======= EDIT =======>
I just wanted to add that I'm using AirPort Utility Version 5.6.1 on a PC, so my instructions apply to that version; I don't know how that would look on OS X Maverick's AirPort Utility. The theory would be the same just make IPv6 Link-local only or simply disable it as the Motorola Modem doesn't seem capable of handling IPv6 requests.