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ForewordAfter nearly half a century of research, the Holy Grail of the field of computer graphics remains a comprehensive computational model and the corresponding software structure to provide realistically looking -and behaving -virtual world. However, Nico Hempe's work, documented in this thesis achieves nothing less than a functional and proven software structure to cope with the request for realism in the ever increasing complexity of today's robotic and mechatronic applications. Over the decades, modeling for computer simulation and visualization has progressed from an early reliance on purely geometric models to extremely powerful simulation models which also incorporate the underlying physical principles. Nico's is to date one of the most important PhD dissertations which manage to bridge the gap between advanced simulation and comprehensive rendering techniques by combining the best of both worlds to impressive virtual reality applications. His virtual worlds, which do not only look good but serve as the basis for virtual testbeds, are key components in new development approaches in the context of eRobotics and "Industry 4.0". Starting in 2010, Nico's work helped to establish the research field of eRobotics in order to cope with the inherent complexity, facilitate the development and significantly cut down the cost of advanced robotics and mechatronics applications. The objective is to effectively use electronic media -hence the "e" at the beginning of the term -to achieve the best possible advancements in the development of the robots' respective fields of use. Current domains of eRobotics covered by Nico's work comprise industrial robotics, work machines, construction site automation, space robotics and even the fields of environmental and city modelling. This thesis reveals the technical details behind a spectacular accomplishment in com...