The debris removal effectiveness is evaluated using visual inspection with three types of dry debris: flour, sand, and metallic swarf. These debris particles are chosen for their property mimicking contaminants found in real conditions. Brushing operational parameters such as the brush angle of attack and the brush penetration have been investigated in the system in relation to debris removal. The purpose of the test is to assess how to brush angle of attack and penetration influence debris removal efficiency. The result shows that the most important parameter is the brush angle of attack. Thus, 80 degrees brush angle of attack provided the best debris removal effectiveness results for flour debris. For abrasive debris particles such as sand, the best configuration is given by a 70-degrees angle of attack independently of brush penetration. Finally, for big, metallic and abrasive particles, the best configuration is given by 90 degrees angle of attack to limit backwards sweeping. We observed a backward sweeping effect which results in the degradation of debris removal effectiveness.