Cluster-based representation of hydraulic systems

The authors present a technique for structural abstraction applicable to the domain of pressurized hydraulic systems. Valves, when closed, functionally isolate clusters of components; when opened, neighboring clusters are merged. A cluster can only be in the one of two qualitative states-stable, where pressures are equal throughout and no flow occurs, or unstable, where flow from high-pressure source(s) to low-pressure sink(s) occurs. Reasoning in terms of clusters is shown to facilitate the generation and explanation of plans for operating and troubleshooting hydraulic systems.