Armando is a nursing assistant who strives to always be compassionate with and helpful to his patients. He is very tired at work one day, but he knows that his patient, Gloria, would love to go for a second walk in the afternoon. Armando has already taken Gloria for a required walk, but he takes her out again because he knows it is good for her and would make her happy. Which ethical principle is Armando demonstrating? beneficence nonmaleficence justice fidelity