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iCAP is a system that assists users in prototyping context-aware applications. iCAP supports sketching for creating input and output devices, and using these devices to design interaction rules, which can be prototyped in a simulated or real context-aware environment. We were motivated to build our system by the lack of tools currently available for developing rich sensor-based applications. We iterated on the design of our system using paper prototypes and obtained feedback from fellow researchers, to develop a robust system for prototyping context-aware applications.