Design, invention, and innovation are interdependent processes. Invention involves generating new ideas by understanding relationships to solve problems. Innovation is the successful adoption of novel ideas or solutions. Design solves problems by unambiguously visualizing solutions, and there can be several solutions in design. The early stages of design involve visualizing initial ideas which is a source of creativity, formulating problems, and finding solutions. Idea sketching, drawings, modeling, and prototyping facilitate accidental discoveries and innovations by externalizing concepts through physical embodiment and allowing revisiting of ideas. Unexpected discoveries of new features during initial design practice create opportunities to progress design ideas and requirements through visualization and discoveries.