Health literacy and social support are independently and positively related to self-management. Social support, which is a system-level factor, is a relatively stronger and crucial predictor than is health literacy. Nurses have to refine self-management programs to focus on families and adopt a systems approach to help CKD patients improve their self-management behaviors.

Obstacle avoidance is an important issue in robotics. In this paper, the particle swarm optimization (PSO) algorithm, which is inspired by the collective behaviors of birds, has been designed for solving the obstacle avoidance problem. Some animals that travel to the different places at a specific time of the year are called migrants. The migrants also represent the particles of PSO for defining the walking paths in this work. Migrants consider not only the collective behaviors, but also geomagnetic fields during their migration in nature. Therefore, in order to improve the performance and the convergence speed of the PSO algorithm, concepts from the migrant navigation method have been adopted for use in the proposed hybrid particle swarm optimization (H-PSO) algorithm. Moreover, the potential field navigation method and the designed fuzzy logic controller have been combined in H-PSO, which provided a good performance in the simulation and the experimental results. Finally, the Federation of International Robot-soccer Association (FIRA) HuroCup Obstacle Run Event has been chosen for validating the feasibility and the practicability of the proposed method in real time. The designed adult-sized humanoid robot also performed well in the 2015 FIRA HuroCup Obstacle Run Event through utilizing the proposed H-PSO.

This paper presents a parameterized gait generator based on linear inverted pendulum model (LIPM) theory, which allows users to generate a natural gait pattern with desired step sizes. Five types of zero moment point (ZMP) components are proposed for formulating a natural ZMP reference, where ZMP moves continuously during single support phases instead of staying at a fixed point in the sagittal and lateral plane. The corresponding center of mass (CoM) trajectories for these components are derived by LIPM theory. To generate a parameterized gait pattern with user-defined parameters, a gait planning algorithm is proposed, which determines related coefficients and boundary conditions of the CoM trajectory for each step. The proposed parameterized gait generator also provides a concept for users to generate gait patterns with self-defined ZMP references by using different components. Finally, the feasibility of the proposed method is validated by the experimental results with a teen-sized humanoid robot, David, which won first place in the sprint event at the 20th Federation of International Robotsoccer Association (FIRA) RoboWorld Cup.

This paper proposes an intelligent control strategy for enabling a robotic arm to grasp and place water-filled bottles without spilling any of the water. First, the system architecture of a five-degreeof-freedom robotic arm and its mechanical design are introduced. Second, both the forward and inverse kinematics of the robotic arm are derived. The study conducted an experiment in which the designed and implemented robotic arm could grasp a bottle of water and move it to another place. However, if the acceleration or the orientation of the robotic arm were inappropriate, the water in the bottle may be spilled during the movement. Therefore, the proposed strategy applies an inertial measurement unit for obtaining relevant information. According to the obtained information, the velocity curves of each joint could be optimized by adaptive inertia weight and acceleration coefficients particle swarm optimization. Finally, the experimental results demonstrated the feasibility and effectiveness of the proposed method. INDEX TERMS AIWCPSO, intelligent control, robotic arm, velocity control.

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This paper proposes an image hiding method which first compresses a secret image by base switching transformation (BST) and then ranks the compression data according to their significance. Meanwhile, the cover image is transformed into a frequency domain image by discrete wavelet transformation. After that, the dominant compression data are hidden in the lower frequency sub-bands and the trivial compression data in the higher frequency sub-bands of the frequency domain image. When the dominant compression data are damaged, the hamming code method is used to correct the damaged data. If the trivial compression data are changed, only the secret image data relating to the damaged data are affected. This proposed method also can yield a high hiding capacity of 2.25 bits/pixels