Abstract: The disclosed subject matter relates to extracorporeal blood processing or other processing of fluids. Volumetric fluid balance, a required element of many such processes, may be achieved with multiple pumps or other proportioning or balancing devices which are to some extent independent of each other. This need may arise in treatments that involve multiple fluids. Safe and secure mechanisms to ensure fluid balance in such systems are described.

Abstract: An end effector for a robot for material handling of a stack of carton blanks or other items is disclosed. The end effector includes a pair of movable abutment members which engage opposing side edges of the blanks to thereby lift, transfer or manipulate the carton blanks for transfer to another material handling operation or station. Even though the individual blanks may be flexible, the end effector according to this invention grasps the stack of blanks on opposing side edges thereof to lift the stack of blanks without the need for inverting or otherwise repositioning the stack as required by prior art end effectors. A tab or other feature on the blanks may be utilized by the abutment members when engaging the blanks in order to assist the lifting of the stack.