## 1 Introduction  
The deep seabed is known for its abundant mineral resources, prompting China to begin researching deep-sea mining technology in the early 1980s [1]. Polymetallic nodules, mineral resources located on the seafloor at depths between 3000 and 6000 m, contain valuable metals such as manganese, nickel, and copper, making them a promising source for commercial exploitation [2]. In deep-sea mining operations, the vehicle plays a critical role, as its performance when traveling on the seabed directly impacts the overall continuous operating performance of the mining system [3, 4]. However, the soft nature of deep-sea sediments leads to sediment accumulation in the track gaps of the chassis during the vehicle's operation on the seafloor. This accumulation reduces the effective working depth of the tracks and the vehicle's maneuverability in soft sediment areas. Given the diverse and complex seabed topography, mining vehicle design and agility must adhere to rigorous standards [5]. To overcome this challenge, high-pressure water jet cleaning and decontamination technologies are necessary to clear material from the track gaps and improve the vehicles' agility on the soft seabed substrate. Tracked mining vehicles are commonly used in deep-sea operations due to their ability to carry heavy loads and provide a high traction power [6; 7]. However, a major challenge lies in enhancing driving performance and removing sediments between the track teeth. [PERSON] [8] evaluated the effectiveness of different solutions and foams for decontaminating interior surfaces. In a study, researchers investigated the impact of track parameters on shear pressure between sediments by developing a numerical model for tracked mining vehicles [9]. Utilized extensively across several sectors, water jet technology can also aid in addressing the problem of adhesion cleaning [10]. In 2020, [PERSON] [1] investigated the reduction in viscosity and detachment of a traveling water jet, deriving the dimensionless equation for the crater's radius and depth. Their findings revealed that the crater depth increased gradually with the radius before sharply rising, and it was influenced by water jet parameters, target distance, and the critical destructive force of the substrate. In 2020, [PERSON] [11] utilized EDEM-Fluent coupling to examine the impact of various key water jet parameters on soil, and the best effect on the soil was achieved with an 8 mm gap between the outlet pipes and a jet injection speed of 30 m/s but did not specify the effect of water jet flow and pressure on soil fragmentation. In 2023, [PERSON] [12] investigated the effects of jets impacting hull surfaces at various angles and speeds using the ALE algorithm, focusing on pressure and stress characteristics. The results revealed that contacting the target with the suitable injection angle can raise the kinetic energy of the high-pressure water jet and enhance the effect of cleaning the surface adherence. Furthermore, in 2020, [PERSON] [13] analyzed the flow field of a 300 m deep water jet for cleaning ground immersion filters, investigating the impact of different nozzle diameters, pressure drops, deflection angles, and target distances on fouling decontamination. The findings indicated that the maximum jet impact pressure and effective cleaning length increased by 22.15% and 905.46%, respectively, when the nozzle diameter is increased from 1 mm to 2 mm. A higher nozzle pressure drop also results in a higher jet impact pressure and better jet disinfection capability. In the domain of peri-implantitis treatment, there is a critical need for an effective yet non-destructive debridement technique to enhance the success rates of peri-implantitis interventions. [PERSON] [14] developed a new water jet device and a new cold atmospheric pressure plasma device to overcome these problems.