A method for detecting the formation of a droplet comprising: dispensing a fluid from a pipette tip attached to a pipette; estimating a plurality of rate of change in pipette pressure values during a given time interval, wherein estimating the plurality of rate of change in pipette pressure values during the given time interval comprises: measuring a pipette pressure in real time at an internal portion of the pipette at given sampling time intervals during the step of dispensing the fluid from the pipette tip to generate a plurality of pipette pressure values; determining a plurality of pressure differences relative to at least one previously measured pipette pressure value; and mathematically weighting each of the plurality of pressure differences to provide the plurality of rate of change in pipette pressure values, wherein mathematically weighting each of the plurality of pressure differences to provide the plurality of rate of change in pipette pressure values comprises: weighting a most recently determined pressure difference to provide a weighted pressure difference; weighting at least one previously calculated rate of change in pipette pressure value to provide a weighted previously calculated rate of change in pipette pressure value; and summing the weighted pressure difference and the weighted previously calculated rate of change in pipette pressure value; detecting formation of the droplet at a distal end of the pipette tip, responsive to at least one of the plurality of rate of change in pipette pressure values being greater than or equal to an upper pressure related threshold and at least one of the plurality of rate of change in pipette pressure values being less than or equal to a lower pressure related threshold; and stopping the dispensing of the fluid from the pipette tip when the droplet is detected or moving the pipette when the droplet is detected. dispensing a fluid from a pipette tip attached to a pipette; estimating a plurality of rate of change in pipette pressure values during a given time interval, wherein estimating the plurality of rate of change in pipette pressure values during the given time interval comprises: measuring a pipette pressure in real time at an internal portion of the pipette at given sampling time intervals during the step of dispensing the fluid from the pipette tip to generate a plurality of pipette pressure values; determining a plurality of pressure differences relative to at least one previously measured pipette pressure value; and mathematically weighting each of the plurality of pressure differences to provide the plurality of rate of change in pipette pressure values, wherein mathematically weighting each of the plurality of pressure differences to provide the plurality of rate of change in pipette pressure values comprises: weighting a most recently determined pressure difference to provide a weighted pressure difference; weighting at least one previously calculated rate of change in pipette pressure value to provide a weighted previously calculated rate of change in pipette pressure value; and summing the weighted pressure difference and the weighted previously calculated rate of change in pipette pressure value; measuring a pipette pressure in real time at an internal portion of the pipette at given sampling time intervals during the step of dispensing the fluid from the pipette tip to generate a plurality of pipette pressure values; determining a plurality of pressure differences relative to at least one previously measured pipette pressure value; and mathematically weighting each of the plurality of pressure differences to provide the plurality of rate of change in pipette pressure values, wherein mathematically weighting each of the plurality of pressure differences to provide the plurality of rate of change in pipette pressure values comprises: weighting a most recently determined pressure difference to provide a weighted pressure difference; weighting at least one previously calculated rate of change in pipette pressure value to provide a weighted previously calculated rate of change in pipette pressure value; and summing the weighted pressure difference and the weighted previously calculated rate of change in pipette pressure value; weighting a most recently determined pressure difference to provide a weighted pressure difference; weighting at least one previously calculated rate of change in pipette pressure value to provide a weighted previously calculated rate of change in pipette pressure value; and summing the weighted pressure difference and the weighted previously calculated rate of change in pipette pressure value; detecting formation of the droplet at a distal end of the pipette tip, responsive to at least one of the plurality of rate of change in pipette pressure values being greater than or equal to an upper pressure related threshold and at least one of the plurality of rate of change in pipette pressure values being less than or equal to a lower pressure related threshold; and stopping the dispensing of the fluid from the pipette tip when the droplet is detected or moving the pipette when the droplet is detected.