Abstract
Objective/background: To describe and characterize insomnia symptoms and nightmare profiles in Portugal during the first six weeks of a national lockdown due to COVID-19. Patients/methods: An open cohort study was conducted to collect information of the general population during the first wave of SARS-CoV-2/COVID-19 pandemic in Portugal. We analyzed data from 5011 participants (>= 16 years) who answered a weekly questionnaire about their well-being. Two questions about the frequency of insomnia and nightmares about COVID-19 were consecutively applied during six weeks (March-May 2020). Latent class analysis was conducted and different insomnia and nightmare profiles were identified. Associations between individual characteristics and both profiles were estimated using odds ratios (ORs) and 95% confidence intervals (CI). Results: Five insomnia (No insomnia, Stable-mild, Decreasing-moderate, Stable-severe, Increasing-severe) and three nightmares profiles (Stable-mild, Stable-moderate, Stable-severe) were identified. Being female, younger, perceiving their income as insufficient and feelings of fear towards COVID-19 were associated with higher odds of insomnia (Women: OR = 6.98 95%CI: 4.18-11.64; >= 60 years: OR = 0.30 95%CI: 0.18-0.53; Insufficient income: adjusted OR (aOR) = 8.413 95% CI: 3.93-16.84; Often presenting fear of being infected with SARS-CoV-2 infection: aOR = 9.13 95%CI: 6.36-13.11), and nightmares (Women: OR = 2.60 95%CI: 1.74-3.86; >= 60 years: OR = 0.45 95%CI: 0.28-0.74; Insufficient income: aOR = 2.60 95%CI: 1.20e5.20; Often/almost always presenting fear of being infected with SARS-CoV-2 infection: aOR = 6.62 95%CI: 5.01-8.74). Having a diagnosis of SARS-CoV-2 virus infection was associated with worse patterns of nightmares about the pandemic. Conclusions: Social and psychological individual factors are important characteristics to consider in the developmentof therapeutic strategies to supportpeoplewithsleep problems during the COVID-19 pandemic.

Abstract
Bin picking is a challenging problem that involves using a robotic manipulator to remove, one-by-one, a set of objects randomly stacked in a container. When the objects are prone to entanglement, having an estimation of their pose and shape is highly valuable for more reliable grasp and motion planning. This paper focuses on modeling entangled tubes with varying degrees of curvature. An unconventional machine learning technique, Inductive Logic Programming (ILP), is used to construct sets of rules (theories) capable of modeling multiple tubes when given the cylinders that constitute them. Datasets of entangled tubes are created via simulation in Gazebo. Experiments using Aleph and SWI-Prolog illustrate how ILP can build explainable theories with a high performance, using a relatively small dataset and low amount of time for training. Therefore, this work serves as a proof-of-concept that ILP is a valuable method to acquire knowledge and validate heuristics for pose and shape estimation in complex bin picking scenarios.

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