A major international research effort is currently under way to improve the exist-ing World Wide Web (WWW), with the intention to create what is often called the Semantic Web [Berners-Lee et al., 2001; Hitzler et al., 2010]. Driven by the World Wide Web Consortium (W3C) and its director Sir Tim Berners-Lee (inven-

chen) ermöglicht die Simulation von Rendezvous und Docking (RvD) Szenarien mit zwei Raumfahrzeu-gen und entsprechender Sensor Hardware, die ”Hardware-in-the-Loop ” in das System eingschleift werden kann. Mockups der Raumfahrzeuge werden auf zwei Industrieroboter montiert. Beide Raum-fahrzeuge können in sechs Freiheitsgrden bewegt werden, wodurch die relative Orientierung und Posi-tion simuliert wird. Ein Echtzeit-Kontrollsystem, das das Echtzeit Betriebssystem VxWorks in Kom-bination mit dem Real-Time Workshop von Matlab/Simulink nutzt, kommandiert die Roboter. Diese Simulationsumgebung erfordert es, dass jeder Kunde, will er EPOS nutzen, seine Simulationscode oder gar sein ganzes Simulationssystem (Hardware und Software) an EPOS Anforderungen anpassen muss. Im Detail bedeutet dies einen erheblichen Aufwand an Zeit und Ressourcen, der den Vorteil einer Hardware in the Loop Simulation mit EPOS zunicht machen würde. Es ist das Ziel dieser Arbeit, diesen Aufwand deutlich zu reduzieren. Dafür soll ein Software-Packet entwickelt, implementiert und getestet werden, das es erlaubt, einen externen Satellitensimulator über Ethernet mit dem EPOS Echtzeitkontrollsystem zu verbinden. Obgleich diese Strategie viele Probleme

First of all, I would like to thank my supervisor Erica Melis for her support during my years in the ActiveMath group. Regardless how much and what she had to do, Erica was always available for discussion and support, and a never dwindling source of ideas and suggestions. I am also deeply indebted for her careful proofreading of this thesis. I also wish to thank Jörg Siekmann for letting me become a member of his research groups. His enthusiasm for Artificial Intelligence inspired my research from the very beginning, and I am grateful that he accepted to review my thesis. My special thanks goes to Julita Vassileva for accepting to be the second referee of this thesis. I hope my research does honor to her pioneer work in course generation. Research always takes place in a context. In Saarbrücken, I had the privilege of being the member of two stimulating and encouraging research groups, first the Omega group and then the ActiveMath group. Guys, I miss you already. Big thanks for proofreading parts of my thesis goes to Martin Homik, George Goguadze, Paul Libbrecht and Stefan Winterstein. Similar big thanks goes to Philip Kärger and Tianxiang Lu for implementing several of my crazy ideas.

Abstract not found

Learning takes place in communities, facilitated by artifacts, which in turn sustain the communities that generate them. A series of CSCL conferences – archived in proceedings artifacts like this one – have been foundational events for a growing

Permission is granted to make and distribute verbatim copies of this manual provided the copyright notice and this permission notice are preserved on all copies. Permission is granted to copy and distribute modified versions of this manual under the conditions for verbatim copying, provided that the entire resulting derived work is distributed under the terms of a permission notice identical to this one. Permission is granted to copy and distribute translations of this manual into another language, under the above conditions for modified versions, except that this permission notice may be stated in a translation approved by the R Development Core Team. R is free software and comes with ABSOLUTELY NO WARRANTY. You are welcome to redistribute

Copyright (©) 1999–2012 R Foundation for Statistical Computing. Permission is granted to make and distribute verbatim copies of this manual provided the copyright notice and this permission notice are preserved on all copies. Permission is granted to copy and distribute modified versions of this manual under the conditions for verbatim copying, provided that the entire resulting derived work is distributed under the terms of a permission notice identical to this one. Permission is granted to copy and distribute translations of this manual into another language, under the above conditions for modified versions, except that this permission notice may be stated in a translation approved by the R Core Team. R is free software and comes with ABSOLUTELY NO WARRANTY. You are welcome to redistribute

Copyright (©) 1999–2012 R Foundation for Statistical Computing. Permission is granted to make and distribute verbatim copies of this manual provided the copyright notice and this permission notice are preserved on all copies. Permission is granted to copy and distribute modified versions of this manual under the conditions for verbatim copying, provided that the entire resulting derived work is distributed under the terms of a permission notice identical to this one. Permission is granted to copy and distribute translations of this manual into another language, under the above conditions for modified versions, except that this permission notice may be stated in a translation approved by the R Core Team. R is free software and comes with ABSOLUTELY NO WARRANTY. You are welcome to redistribute

Permission is granted to make and distribute verbatim copies of this manual provided the copyright notice and this permission notice are preserved on all copies. Permission is granted to copy and distribute modified versions of this manual under the conditions for verbatim copying, provided that the entire resulting derived work is distributed under the terms of a permission notice identical to this one. Permission is granted to copy and distribute translations of this manual into another language, under the above conditions for modified versions, except that this permission notice may be stated in a translation approved by the R Core Team. R is free software and comes with ABSOLUTELY NO WARRANTY. You are welcome to redistribute

Copyright (©) 1999–2012 R Foundation for Statistical Computing. Permission is granted to make and distribute verbatim copies of this manual provided the copyright notice and this permission notice are preserved on all copies. Permission is granted to copy and distribute modified versions of this manual under the conditions for verbatim copying, provided that the entire resulting derived work is distributed under the terms of a permission notice identical to this one. Permission is granted to copy and distribute translations of this manual into another language, under the above conditions for modified versions, except that this permission notice may be stated in a translation approved by the R Core Team. R is free software and comes with ABSOLUTELY NO WARRANTY. You are welcome to redistribute