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Pervasive or ubiquitous computing requires the integration of multiple technologies, including software, hardware and human-computer interaction (HCI). To prepare students for this new paradigm in computing, we need multi-disciplinary academic programs and courses. Furthermore, real-world design projects, design processes and team experiences must play a primary role. The course "Rapid Prototyping of Computing Systems" at Carnegie Mellon University (CMU) combines all these elements in a single innovative course offered in multiple departments at CMU. Students learn topics in multiple disciplines and complete an industry-driven, team-based project using a well-defined design process. Although the course prepares students for a wide range of computing applications, the topics and projects focus on pervasive computing.