A fluid delivery system having a closed-loop control process for delivering a medical fluid to a patient. The actuators are connected to shift rails which include shift forks and are slidable to engage synchronizers and positive clutches associated with the various gear ratios. Methods of using the flexible substrate are also provided. The system includes elements for detecting a discontinuity in the sheet product. In use, the depth of cut and resulting amount of material removed from the one surface of the piece is dependent upon the thickness of the piece. Related compositions and methods are also disclosed, particularly with regard to treatment of insomnia.