This information has been cobbled together from communications with the PicoBrew folks.
For some reason, the information they give publicly on their website and information in forums and private emails differs.
In lieu of them publishing a comprehensive cleaning guide, I have assembled this here.
Run a rinse before and after each brew. These should be at least 2 gallons ran from one vessel to another but should be more during the post brew if it has not run clear yet. Hot water is best.