Did you check out the Run app on connected devices from the Icenium Extension for Visual Studio article?
Basically, once you have verified that Icenium recognizes your device in the Devices List, what you need to do is select Icenium -> Build project_name and Deploy. You need to wait for the build and deployment to complete. You can follow the progress of the operation in the Output pane in the Build log. However, you might need to wait a little while for the deployment to complete (there is no indication for it in VS) on device.
If this does not help, the error you are reporting might indicate some additional issues with your project. If you are still unable to build and deploy on a connected device, could you zip your project and attach it, so we can investigate what might be causing the error?
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