in contrast to AWIJ, the jet consists of only two components (water - abrasive). Since there are only 2 components (water and abrasive) in the AWSJ, the acceleration of the abrasive grains by the water takes place with a significantly increased efficiency compared to the AWIJ. The abrasive grains become faster with the WASS than with the WAIS for the same hydraulic power of the system. Therefore, comparatively deeper or faster cuts can be made with the AWSJ. AWSJ cutting, in contrast to the AWIJ cutting process described below, can also be used for mobile cutting applications and cutting under water, in addition to machining demanding materials. Examples include bomb disposal s well as the dismantling of offshore installations or the dismantling of reactor pressure vessel installations in nuclear power plants. Abrasive Water Injector Jet (AWIJ) cutting The AWIJ is generated by a water jet that passes through a mixing chamber (a cavity) after exiting the water nozzle and enters a focusing tube at the exit of the mixing chamber. The interaction of the water jet in the mixing chamber with the air inside creates negative pressure, the water jet entrains air particles. This negative pressure is used for the pneumatic transport of the abrasive into the chamber (the abrasive is led to a lateral opening (bore) of the mixing chamber by means of a hose). After contact with the abrasive material in the mixing chamber with the water jet, the individual abrasive grains are accelerated and entrained in the direction of the focusing tube. The air used as a carrier medium for transporting the abrasive into the mixing chamber also becomes part of the AWIJ, which now consists of three components (water - abrasive - air). In the focusing tube, which is (should be) optimised in its length for this purpose, the abrasive is further accelerated (energy transfer from the water to the abrasive grain) and the AWIJ ideally leaves the focusing tube at the maximum possible abrasive grain speed. Waterjet control As waterjet cutting moved into traditional manufacturing shops, controlling the cutter reliably and accurately was essential. Early waterjet cutting systems adapted traditional systems such as mechanical pantographs and CNC systems based on John Parsons’ 1952 NC milling machine and running G-code. Challenges inherent to waterjet technology revealed the inadequacies of traditional G-Code, as to accuracy, depends on varying the speed of the nozzle as it approaches corners