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I believe the specific issue with your FOAF attempt is that the actual namespace URI for FOAF is http://xmlns.com/foaf/0.1/ whereas you provided the URI to the spec document.
The importer needs to receive the exact correct namespace URI, because it uses the URI to tell which properties and classes are actually "in" the vocab being imported.
The same issue could be to blame for your problems when attempting to use other vocabs as well.
-John