Abstract
Dense retrieval models are generally trained using supervised learning approaches for representation learning, which require a labeled dataset (i.e., query-document pairs). However, training such models from scratch is not feasible for most languages, particularly under-resourced ones, due to data scarcity and computational constraints. As an alternative, pretrained dense retrieval models can be fine-tuned for specific downstream tasks or applied directly in zero-shot settings. Given the lack of labeled data for Tetun and the fact that existing dense retrieval models do not currently support the language, this study investigates their application in zero-shot, out-of-distribution scenarios. We adapted these models to Tetun documents, producing zero-shot embeddings, to evaluate their performance across various document representations and retrieval strategies for the ad-hoc text retrieval task. The results show that most pretrained monolingual dense retrieval models outperformed their multilingual counterparts in various configurations. Given the lack of dense retrieval models specialized for Tetun, we combine Hiemstra LM with ColBERTv2 in a hybrid strategy, achieving a relative improvement of +2.01% in P@10, +4.24% in MAP@10, and +2.45% in NDCG@10 over the baseline, based on evaluations using 59 queries and up to 2,000 retrieved documents per query. We propose dual tuning parameters for the score fusion approach commonly used in hybrid retrieval and demonstrate that enriching document titles with summaries generated by a large language model (LLM) from the documents' content significantly enhances the performance of hybrid retrieval strategies in Tetun. To support reproducibility, we publicly release the LLM-generated document summaries and run files. © 2025 Elsevier B.V., All rights reserved.

Abstract

Abstract
Sound design plays an important role in serious games, influencing user experience and learning outcomes. However, deriving general principles and best practices remains challenging, as most literature relies on case-based studies in different application domains. Through a systematic review of the literature, 21 studies were analyzed to address two key questions: 1) what types of serious games and application domains incorporate sound design? and 2) what sound design strategies are implemented to enhance user experience and learning outcomes? The findings show that serious games have mainly focused on education, healthcare, and training, using sound to enhance motivation (50%), cognition (32%), and knowledge acquisition (18%). Furthermore, sound design strategies fulfill distinct roles: sound effects enhance feedback and engagement, background music influences motivation and cognitive processing, ambient sounds support navigation and emotional regulation, and dialogue facilitates knowledge acquisition. The findings highlight the need for further research to establish standardized sound design principles to optimize user experience and learning outcomes in serious games. Copyright © 2025 by SCITEPRESS - Science and Technology Publications, Lda.

Abstract
There are now multiple proposals for Conflict-free Replicated Data Types (CRDTs) in SQL databases aimed at distributed systems. Some, such as ElectricSQL, provide only relational tables as convergent replicated maps, but this omits semantics that would be useful for merging updates. Others, such as Pg\_crdt, provide access to a rich library of encapsulated column types. However, this puts merge and query processing outside the scope of the query optimizer and restricts the ability of an administrator to influence access paths with materialization and indexes. Our proposal, CRDV, overcomes this challenge by using two layers implemented as SQL views: The first provides a replicated relational table from an update history, while the second implements varied and rich types on top of the replicated table. This allows the definition of merge semantics, or even entire new data types, in SQL itself, and enables global optimization of user queries together with merge operations. Therefore, it naturally extends the scope of query optimization and local transactions to operations on replicated data, can be used to reproduce the functionality of common CRDTs with simple SQL idioms, and results in better performance than alternatives.

Abstract
Underwater exploration is vital for advancing scientific understanding of marine ecosystems, biodiversity, and oceanic processes. Autonomous underwater vehicles and sensor platforms play a crucial role in continuous monitoring, but their operational endurance is often limited by energy constraints. Various control strategies have been proposed to enhance energy efficiency, including robust and optimal controllers, energy-optimal model predictive control, and disturbance-aware strategies. Recent work introduced a variable structure depth controller for a sensor platform with a variable buoyancy module, resulting in a 22% reduction in energy consumption. This paper extends that work by providing a formal stability proof for the proposed switching controller, ensuring safe and reliable operation in dynamic underwater environments. In contrast to the conventional approach used in controller stability proofs for switched systems-which typically relies on the existence of multiple Lyapunov functions-the method developed in this paper adopts a different strategy. Specifically, the stability proof is based on a novel analysis of the system's trajectory in the net buoyancy force-versus-depth error plane. The findings were applied to a depth-controlled sensor platform previously developed by the authors, using a well-established system model and considering physical constraints. Despite adopting a conservative approach, the results demonstrate that the control law can be implemented while ensuring formal system stability. Moreover, the study highlights how stability regions are affected by different controller parameter choices and mission requirements, namely, by determining how these aspects affect the bounds of the switching control action. The results provide valuable guidance for selecting the appropriate controller parameters for specific mission scenarios.

Abstract
One of the industry’s most common applications of lasers is engraving, which is generally performed on flat surfaces. However, there are many situations where the object to be engraved has an unevenly curved geometry. In those cases, the light power density will be different along the surface for a fixed head, leading to a poor engraving result. This work deals with this problem by designing a robotic application capable of detecting variations on the object surface and automatically creating a trajectory to engrave on it correctly. This was made possible through a robotic manipulator, a time-of-flight distance sensor, and a data processing algorithm over the measured data. Obtained results were acquired using a custom-made test rig and validated by delivering consistent engraving results on irregular surface shapes.