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Rapid prototyping is a broad field encompassing many domains and varied approaches. This article presents the authors' experiences using user-centered rapid prototyping approaches for developing display-based ubiquitous systems for deployment in real-world situations. Although rapid prototyping usually produces a single proof-of-concept demonstrator to investigate technical feasibility, they found that without investigating real use, technical feasibility can be meaningless. They adopt multiphased prototyping approaches, using different techniques at different stages to gather feedback. They hope their findings will assist other researchers and practitioners in selecting appropriate prototyping techniques for future projects.This article is part of a special issue on rapid prototyping.