Prototyping is the fundamental activity that structures innovation in design. While prototyping tools are now common for graphical user interfaces on personal computers, prototyping interactions for ubiquitous computing systems remains out of reach for designers. This dissertation contributes concepts and techniques, embodied in software and hardware artifacts, to answer two research questions: 1) How can design tools enable a wider range of designers to create functional prototypes of ubiquitous computing user interfaces? 2) How can design tools support the larger process of learning from these prototypes?
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