Driven by the emergence of mobile and pervasive computing, there is a growing demand for context-aware software systems that can dynamically adapt to their run-time environment. We present the results of project MADAM that has delivered a comprehensive solution for the development and operation of context-aware, self-adaptive aplications. The main contributions of MADAm are (a) a sophisticated middleware that supports the dynamic adaptation of component-based applications, and (b) an innovative model-driven development methodology that is based on abstract adaptation models and corresponding model\_to-code transformations. MADAM has demonstrated the viability of a general, integrated approach to application-level adaptation. We discuss our experiences with two real-world case studies that were built using the MADAM approach.