Fluid delivery

The method of claim, further comprising, for subsequent aliquots:

• operating, based on a second objective volume of an aliquot to be delivered during a subsequent subinterval, the pump motor for a third motor duration at the beginning of the subsequent subinterval to deliver less than the second objective volume of the aliquot;
• sensing a second change in a position of a first structure of the container relative to the position of a second structure of the container;
• estimating a volume of fluid delivered over the third motor duration based on the sensed second change in position;
• determining a fourth motor duration to deliver a remainder of the second objective volume of the aliquot, the fourth motor duration ending no later than the end of the subsequent subinterval and determined based on a difference between a cumulative objective volume of the aliquot at the end of the third motor duration and a cumulative estimated volume of the aliquot at the end of the third motor duration;
• and
• operating the pump motor for the fourth motor duration targeting delivery of the remainder of the subsequent aliquot.

A flow control apparatus for fluid delivery comprising:

• a processor;
• memory in communication with the processor and storing instructions;
• tubing;
• a container in fluid communication with the tubing and adapted to store a fluid;
• and
• a pump motor operative, under control of the instructions executed by the processor, to move the fluid in the container through the tubing to deliver a dose of the fluid from the container over a time interval, the dose comprising aliquots of the fluid deliverable over subintervals of the time interval,
• wherein the instructions, when executed by the processor are operative to cause the flow control apparatus to:
• operate, based on an objective volume of an aliquot to be delivered during a subinterval, the pump motor for a first motor duration at a beginning of the subinterval to deliver less than the objective volume of the aliquot;
• sense a change in a position of a first structure of the container relative to the position of a second structure of the container over the first motor duration;
• estimate a volume of fluid delivered over the first motor duration based on the sensed change in position;
• determine a second motor duration to deliver a remainder of the objective volume of the aliquot, the second motor duration ending no later than the end of the subinterval and being determined based on a difference between the objective volume of the aliquot and the estimated volume of the aliquot;
• and
• operate the pump motor for the second motor duration targeting delivery of the remainder of the aliquot.

The apparatus of claim, further comprising, wherein the instructions, when executed by the processor are further operative to cause the flow control apparatus to, for subsequent aliquots:

• operate, based on a second objective volume of an aliquot to be delivered during a subsequent subinterval, the pump motor for a third motor duration at the beginning of the subsequent subinterval to deliver less than the second objective volume of the aliquot;
• sense a second change in a position of a first structure of the container relative to the position of a second structure of the container over the third motor duration;
• estimate a volume of fluid delivered over the third motor duration based on the sensed second change in position;
• determine a fourth motor duration to deliver a remainder of the second objective volume of the aliquot, the fourth motor duration ending no later than the end of the subsequent subinterval and determined based on a difference between a cumulative objective volume of the aliquot at the end of the third motor duration and a cumulative estimated volume of the aliquot at the end of the third motor duration;
• and
• operate the pump motor for the fourth motor duration targeting delivery of the remainder of the subsequent aliquot.

A computer program product for controlling fluid delivery in a flow control apparatus, the flow control apparatus comprising a processor;

• memory in communication with the processor and storing instructions;
• tubing;
• a container in fluid communication with the tubing and adapted to store a fluid;
• and a pump motor operative, under control of the instructions executed by the processor, to move the fluid in the container through the tubing to deliver a dose of the fluid from the container over a time interval, the dose comprising aliquots of the fluid deliverable over subintervals of the time interval, the computer program product comprising instructions that when executed by a processer are operative to cause the flow control apparatus to:
• operate, based on an objective volume of an aliquot to be delivered during a subinterval, the pump motor for a first motor duration at a beginning of the subinterval to deliver less than the objective volume of the aliquot;
• sense a change in a position of a first structure of the container relative to the position of a second structure of the container over the first motor duration;
• estimate a volume of fluid delivered over the first motor duration based on the sensed change in position;
• determine a second motor duration to deliver a remainder of the objective volume of the aliquot, the second motor duration ending no later than the end of the subinterval and being determined based on a difference between the objective volume of the aliquot and the estimated volume of the aliquot;
• and
• operate the pump motor for the second motor duration targeting delivery of the remainder of the aliquot.

The computer program product of claim, further comprising, wherein the instructions, when executed by the processer are further operative to cause the flow control apparatus to, for subsequent aliquots:

• operate, based on a second objective volume of an aliquot to be delivered during a subsequent subinterval, the pump motor for a third motor duration at the beginning of the subsequent subinterval to deliver less than the second objective volume of the aliquot;
• sense a second change in a position of a position of a first structure of the container relative to the position of a second structure of the container over the third motor duration;
• estimate a volume of fluid delivered over the third motor duration based on the sensed second change in position;
• determine a fourth motor duration to deliver a remainder of the second objective volume of the aliquot, the fourth motor duration ending no later than the end of the subsequent subinterval and determined based on a difference between a cumulative objective volume of the aliquot at the end of the third motor duration and a cumulative estimated volume of the aliquot at the end of the third motor duration;
• and
• operate the pump motor for the fourth motor duration targeting delivery of the remainder of the subsequent aliquot.