Wilhelm J. Marais
Papers
1
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1
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1
About
Wilhelm J. Marais is a leading researcher in the field of underwater robotics, with a primary focus on underwater vehicle manipulator systems (UVMS). His work centers on advancing the capabilities of mobile manipulators operating in challenging subsea environments, particularly through the optimisation of contact wrench generation. Marais’s most cited paper, “Maximising the wrench capability of mobile manipulators with experiments on a UVMS” (2025), introduces a novel bi-level optimisation framework that determines optimal configurations and actuator forces to maximise wrenches in desired directions. This contribution is critical for tasks requiring precise force application, such as underwater intervention and assembly. While his citation count is still growing, reflecting the recency of his work, his research has already demonstrated practical impact through experimental validation. Marais’s achievements include bridging theoretical optimisation with real-world UVMS applications, offering engineers a systematic method to enhance manipulator performance. His work is essential reading for students and researchers interested in underwater robotics, optimisation, and the intersection of mobility and manipulation in extreme environments.
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