Abstract: A peritoneal dialysis (“PD”) system includes a cycler having a micropump actuator, a pressure transducer, and at least one valve actuator; a disposable set including a micropump head sized and shaped for mating with and being driven by the micropump actuator, a pressure sensor configured to operably communicate with the pressure transducer, and at least one fluid valve portion or a portion of at least one fluid line for interfacing with the at least one valve actuator; and a control unit, wherein the disposable set may be arranged to allow, and the control unit may be programmed to operate the micropump actuator and the at least one valve actuator, so that fresh and used dialysis fluid flows through the micropump head in a same direction. The system may also dampen pressure fluctuations via pressure pods, and may analyze the outputs from the pressure pods for patient empty and occlusion detection.

Abstract: A method and system for reducing or eliminating uncontrolled motion in a motion control system is disclosed herein. The method includes defining at least one closed motion control loop. The motion control loop comprises a plurality of feedback control loops. The method further includes detecting a faulty feedback control loop from among the plurality of feedback control loops based on a faulty feedback signal. Once the faulty feedback signal is detected, the faulty feedback signal in the faulty feedback control loop is swapped to an operative feedback signal while the motion control loop is active. In an embodiment the motion control loop includes a velocity feedback control loop and a position feedback control loop.