Is is possible to emulate the Apalis TK1 (e.g. with qemu) on an Ubuntu 14.04 host PC?
If it is possible: Are there tutorials which describe the procedure?
No, I don’t think a full emulation is easily possible. However e.g. QEMU supports the ARM Versatile Express for Cortex-A15 which would emulate the same Cortex-A15 cores as found on the TK1 SoC.