I spend more time cleaning than anything else.
The standard procedure for removing a dried up liquid or solid stain from a surface is to:
1. Dissolve the dried up liquid or solid in a liquid, and
2. Remove the soiled liquid.
So, the first step would be to dissolve the dried up power steering fluid, and I'd prolly use paint thinner to do that.
The second step would be to remove the soiled paint thinner, and you could do that by placing the end of the vaccuum hose of a wet/dry vaccuum cleaner directly on the concrete.
Alternatively, you could add some detergent to emulsify the soiled paint thinner and then clean up the emulsion with water. Basically, I'd suggest adding Simple Green, scrubbing it into the concrete to full mix the detergent in with the paint thinner. Now add water and scrub again to form an emulsion of paint thinner droplets suspended in water. You can now clean that emulsion off the floor with a sponge and bucket of water.