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ArGUS Monitoring Prototype : A Security Sentry Support

Conference Paper · October 2015

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 ArGUS Monitoring Prototype :
A Security Sentry Support
Cecilia A. Mercado Lex Leo A. Gorospe
Saint Louis University Saint Louis University
cicsdean@slu.edu.ph leo.gorospe@gmail.com
Janzen N. Chan Sharmayne S. Chavez
Saint Louis University Saint Louis University
janzenchan1822@gmail.com chavezSharmayne29@gmail.com
Andrien B. Pecson
Saint Louis University
dren.pecson@gmail.com
ABSTRACT
The use of open source hardware development platform
such as the Arduino has grown in various application areas
in the recent years. Security is an application area where
the Arduino platform can be used. An important security
aspect is monitoring. This paper intends to explore an
alternative open source hardware solution in the
development of a prototype of a security monitoring device
integrating security measures in terms of intrusion
detection, alert notification and remote controlled
intervention. Using a thorough review of existing
resources, the appropriate resources was identified. The
hardware configuration was guided by hardware
architecture design and the integration of the resources was
guided by a software system model. Five modules were
developed to functionally operate the prototype: these are
the Intrusion Detection and SMS Notification Module,
Camera Streaming Module, Autonomous Patrolling
Module, DTMF Controller Module and GSM Controller
Module.
Categories and Subject Descriptors
I.2.9. [Robotics] : Autonomous vehicles and sensors
General Terms
Algorithms, Security
Keywords
Arduino, GSM, DTMF, SMS
I. INTRODUCTION
Illegal intrusion leads to different adverse effects that are
very much detrimental to safety and security. One of the
motives behind illegal intrusion is robbery which is the
unlawful taking away of property by force with the
intention of permanently depriving the owner of those
Ria Andrea F. Nana
Saint Louis University
riaandrea.nana@gmail.com
Jandy L. Palasi
Saint Louis University
jandypalasi@gmail.com
Paule John Patrick R. Macusi
PauleSaint
JahnLouis University
Patrick R. Macusi
pmacusi@gmail.com
items, burglary, the breaking and entering and stealing of
property, arson, and vandalism. According to the Federal
Bureau of Investigation [6], a total of 5,014 robberies and
60 burglaries were reported in the US in the year 2011.
Aside from these, arson also takes place which involves the
setting of fire or burning down one’s own property. During
the year 2007-2011 there was an estimated 282,600
intentional fires reported by U.S. fire departments each
year, with associated annual losses of 420 civilian deaths,
1,360 civilian injuries, and $1.3 billion in direct property
damage[4]. Vandalism, a willful destruction of a person’s
property also counts as an effect to illegal intrusion. Even
though vandalism is a light offense, it still destructs one’s
property and may lead to worse consequences. From the
report of Bra [3] a Swedish National Council for Crime
Prevention, there were approximately 151,000 criminal
damage offenses reported in 2014, which is an increase by
7 percent from the previous year, and one of the most
common kinds criminal damage is vandalism.
In the Philippines, robbery is the most common cause of
illegal intrusion. According to the Philippine National
Police [8], the civilian national police force of the
Philippines, there were 289,189 cases reported from
January to May 2014, up from 245,347 incidents in the year
2013. Among these cases, robbery cases rose from 4,510 to
5,189. Robbery has been rampant which may appear in
different forms and in different ways.
There are security measures at the present that are used in
preventing these kinds of situations. The traditional foot
patrolling is the most common form of security. As defined
in foot patrol is the backbone of monitoring, the central
aspect of police operations, and the center of police activity
[12]. It is a police tactic or technique that involves
movement around an identified area for the purpose of
observation, inspection or security. Since it is based on the
allocation of officers between spatial areas, it was also a
method of organizing policing resources and managing
policing personnel.
With the advancement of technology, another form of
security measure is the CCTV (Closed-circuit Television).
A CCTV relies on strategic placement of cameras, and
observation of the camera's input through its control unit.
Because the cameras communicate with monitors and/or
video recorders across a private coaxial cable or wireless
communication links. They gain the designation "closed-
circuit" to indicate that access to their content is limited
only to authorize personnel [9].

Motion detection can be another form of security measure.

It has become an essential ingredient in traditional
electronic security and now it is being utilized in access
control and video surveillance systems. Motion sensing
technology has made huge advances since the introduction
of PIR (Passive Infrared) and MW (Microwave)
technologies [7].

Because of these concerns, the study aimed to develop a

prototype that would provide an alternative solution for
security monitoring using an open source hardware
platform specifically the Arduino. While there can be
various processes and resources involved in security
monitoring, this study would only cover the processes of
intrusion detection, alert notification and remote controlled
intervention. This prototype will be called ArGUS meaning
“Arduino-based Guardian Utility Service”. The name was
derived from the term “Argus-eyed” which meant
vigilantly observant.
Through the library developed as an output of this study,
the researchers hope that this would serve as a springboard
to future developments that can assist in community
development. The researchers also support the increased
awareness on the use of open source hardware in the
development of the prototype.
1.1. The Problem
A number of solutions for monitoring processes are already
existing in some organizations. This study intends to
explore an alternative solution to the development of a
security monitoring device using an open-source hardware.
It also intends to develop a library for it. Depending on the
requirements of the organization, the resources and the
monitoring processes can vary. Specifically, the research
intends to answer the following question:
What are the required resources, in terms of hardware and
software, and how can it be appropriately configured and
integrated in an Arduino-based platform to address the
security measures in terms of:
a. Intrusion detection
b. Alert notification
c. Remote controlled intervention
Using the I-P-O framework, Figure 1 presents how the
study was guided.
Figure 1. Conceptual Framework Paradigm.
Given the security monitoring aspects that will be handled
in the study, the appropriate resources have been identified.
From the architecture design that will integrate the security
monitoring aspect, the hardware resources are then
configured A system model to integrate the hardware
resources also guided the development of library modules.
The output of the study is an operational prototype and a
library that can handle security measures in terms of
intrusion detection, alert notification and remote controlled
intervention.
2. METHODOLOGY
This study used a prototype development research. In the
development of prototypes that can address security
monitoring aspects of intrusion detection, alert notification
and remote control intervention, three major activities were
done. These include the identification of resources, the
hardware configuration and integration of appropriate
resources. The identification of the appropriate resources
was done through a thorough review of the existing
resources. The hardware configuration of ArGUS is guided
by the hardware architecture design as seen in Figure 2.
The system development is guided by the software system
model design as presented in Figure 10. It also shows the
interaction and flow of the system across the various
modules. To ensure the appropriate functionality of the
modules, a number of testing activities has been done,
which is also presented in the discussions. The algorithms
developed for each module of the library are likewise
presented.
3. RESULTS AND DISCUSIONS
This section presents the results of the study and
discussions on the three major activities of this study:
identification of appropriate resources, hardware
configuration and integration of the resources. Along with
this, are the discussion on the five modules that were
developed to functionally operate the prototype and the
challenges faced by the researchers in the development of
the study. Also includes the testing of the prototype to
ensure its functionality.

3.1. Resources for Security Monitoring

Processes.
While there are a number of areas where security
Figure 3. Designed Test Track for Patrolling.
monitoring can be measured, this study covered only the
aspects of intrusion detection, notification and remote
controlled intervention.The hardware resources used in the
According to J. Quer [10], the Arduino UNO is a
development of ArGUS include the Arduino UNO
microcontroller board based on the ATmega328 (a single
microcontroller, five channel line tracking sensor, mobile
platform, GSM (Global System for Communications) chip microcontroller). The board also has a 32 KB flash
shield, PIR motion sensor, wireless network IP (Internet memory.
Protocol) camera, motor shield and DTMF (Dual Tone
Multi Frequency) decoder.

3.2. Configuration of Hardware

Resources
The block diagram in Figure 2 shows how the hardware
components of the ArGUS were connected to the Arduino
UNO microcontroller

Figure 4. Arduino UNO Microcontroller.

The microcontroller serves as the storage of the library

Figure 2. Block Diagram of the ArGUS
3.2.1. The Setup
The researchers designed a line track (see Figure 3) where
the patrolling of the prototype could be tested. The test
track used in the study was the robotic line following tiles
from robotsquare.com . It was setup in an L-shaped pattern
with a length of approximately six meters placed in a
hallway having an approximate of one meter width.
created and the interpreter of the modules implemented on
the library. This microcontroller is the heart of the ArGUS
where all of the identified hardware resources are
connected. According to e-Gizmo Mechatronix Central [5],
distributor of DIY electronics kits, the five channel line
tracking sensor was designed for mobile tracking line
applications, the five infrared reflective sensors would
reliably detect dark lines printed over the light colored
surface.
In this study, the five channel line tracking sensor is
responsible for the detection of the black track that was
made for the prototype. The black line directs where the
ArGUS will patrol. The output pins are connected to the
assigned analog pins A0, A1, A2, A3 and A4 of the
Arduino UNO microcontroller. The 5V and ground pin of
the tracking sensor is connected to the breadboard and is
connected to the ground of Arduino UNO microcontroller.
It is attached in front of the platform facing the line track
with an estimate of 2mm above the surface as shown on
Figure 5.

Figure 5. Line track and Five Channel Line Tracking
Sensor Set-up.
The mobile platform was a recycled toy tank robot that
served as the base frame of the ArGUS. It was also used for
powering the movement of the ArGUS and only works on
flat surfaces. A motor shield seen in Figure 6 is used to
manipulate the speed and rotation of the DC (Direct
Current) motor of the platform.
The digital pin numbers 8, 9, 10, 11 of the motor shield,
connect to the same digital pin of the Arduino UNO
microcontroller. The 5V and ground pin of the motor shield
is connected to the breadboard that is connected to the
ground of the Arduino UNO microcontroller. The DC
motors of the mobile platform were connected to the output
pins +A, -A, +B, -B of the motor shield. A separate 9V 175
mAh battery was also used in powering the motor shield
together with the DC motor of the mobile platform.
The GSM shield shown in Figure 6 allows the Arduino
UNO microcontroller to be able to send and receive SMS
Short Message Service) and make voice calls by
implementing the GSM library. This shield gave the
ArGUS the capability to receive and send SMS from and to
the authorized personnel
Figure 6. The Setup of the Shields.
The GSM shield is stacked on the Arduino UNO
microcontroller and it is powered by a separate 9V 175
mAh battery. A SIM card is inserted in the GSM shield. To
widen the signal range, an antenna is added to the GSM
setup.
Figure 7. DTMF Decoder.
The PIR sensor is referred to as “Pyroelectric” or “IR
motion” sensors. According to Adafruit industries [1], a
manufacturer of DIY electronics kits, the PIR sensor allows
you to sense motion and this simple device was used as the
motion sensor of ArGUS.
It has three pins- the positive, output and negative. The
positive pin will be connected to the breadboard that is
connected to the 5V pin of the Arduino UNO
microcontroller. The output pin is connected to the 13th
digital pin while the negative pin is connected to the
breadboard and to the ground of the Arduino UNO
microcontroller.
According to M. Rousse [11], the DTMF serves as the
signal to the phone company that a user generates when he
presses an ordinary telephone’s touch keys.
DTMF dial tones would be used to control the ArGUS. The
DTMF controlled was used in the study to translate these
dial tones into movements of the ArGUS, thus, making the
cellphone as the controller of the prototype.
The audio jack of the DTMF decoder is connected to the
headphone jack of the GSM shield.
Figure 8. Wireless Network IP Camera.
The wireless network IP camera mainly served as the eye
of the ArGUS. It was used to capture live feeds from its
area of responsibility. The IP camera used in the ArGUS is
a stand-alone, CPU and Web Server built-in, and can be
integrated with an Ethernet network. The live streams that
were recorded are accessible through any wireless
connected devices given that the viewer is authorized to do
so.

The configuration of the IP camera must be done first by
connecting it to the router using an Ethernet cable. Next
step is to set the IP configuration into DHCP (Dynamic
Host Configuration Protocol) mode. After the configuration
of the IP address, the user authentication needs to be
configured in order to control the access of the wireless IP
camera.
After doing so, the Ethernet cable can be disconnected from
the IP camera and it will then work in a wireless mode.
Upon accessing the wireless IP camera through its IP
address, a user authentication needs to be filled up. This is
necessary in order to access the live streams from the
wireless IP camera of the ArGUS. Figure 9 shows the
network configuration of the ArGUS’ Camera Streaming
Module.
Figure 9 Argus camera Network Topology
3.3. Integration of the Software
Application Modules of the
Library
This section provides the application modules and the
library developed that will integrate the prototype
capability of the intrusion detection, alert notification and
remote controlled intervention.
The Arduino IDE (Integrated Development Environment)
is a Windows-based software that was used in
programming the microcontroller of the prototype. The
Arduino board was connected through a USB (Universal
Serial Bus) of a particular computer unit.
During the configuration of the IDE, the Arduino UNO
microcontroller was the model that was first selected for
programming. Arduino-based C was used as the
programming language.
In programming, Arduino has a pre-defined
pattern composing of three parts: declaring the variables,
setup part (communication command) and the loop part.
The variable declaration part is where initialization of all
variables was done. Only the variables that were needed all
throughout the program was declared and initialized. The
setup part consists of the configuration of the
communication port; this is also where the configuration of
pins in the Arduino was declared. The loop part serves as
the main method of the program where all the operational
statements were written.
The ArGUS has five modules: Intrusion Detection and
SMS Notification Module, Camera Streaming Module,
Autonomous Patrolling Module, DTMF Controller Module,
and the GSM Controller Module.
The total memory of microcontroller consumed in
integrating the modules was 27,932 KB. Figure 10 presents
the system design of the modules of the created library and
shows the interaction and flow of the system across the
various modules.
3.3.a. Intrusion Detection and SMS
Notification Module
After 20 seconds of patrolling, the ArGUS would
stop and activate its Intrusion Detection and SMS
Notification Module. When a motion is detected by the
PIR, this module is responsible for notifying the authorized
personnel about the intrusion event through SMS. The
Algorithm 1 shows how this module was implemented.
Algorithm 1: Intrusion Detection and
SMS Notification Module
void motion_notif() {
calibrate_PIR();
if (motion have been detected) { Send
SMS notification to the Authorized
personnel;
} else {
Monitor the area of responsibility of
the ArGUS;
}
}
calibrate_PIR() {
Activate the PIR sensor;
}
The calibrate_PIR() method was responsible for activating
the PIR sensor and automatic calibration of the area around
the ArGUS. After the calibration of the PIR it would now
detect if a motion is present at the location of the ArGUS.
After 10 seconds of observing for any intrusion the ArGUS
would now autonomously patrol again
 Figure 10: FlowChart for Argus Modules

3.3.b. Camera Streaming Module

The wireless network IP camera as presented in Figure 8,

would serve as the eyes of the ArGUS. The camera
streaming module would be responsible for the live
monitoring purpose of ArGUS. The module’s aim is to
send live stream videos of the area being monitored.

3.3.c. Autonomous Patrolling Module

The Autonomous Patrolling Module of ArGUS is for its

autonomous patrolling routine. In the autonomous mode,
the ArGUS is able to move based on its track without the
user controlling it. For every triggered line sensor, there are
assigned movements of the ArGUS. There are four
conditions for every movement (forward, right turn, left
turn and search) of the ArGUS as stated in the Figure 11.
The search condition would only be triggered once the
ArGUS is unable to detect any black lines. The pseudo
code in Algorithm 2 was implemented in the Autonomous
Patrolling Module.

Algorithm 2: Autonomous Patrolling
Mode
read_lineSensor() {
Digital read left1 channel pulses; Digital
read left2 channel pulses; Digital read
mid channel pulses; Digital read right2
channel pulses; Digital read right1
channel pulses;
} This interprets what would be the movement of
autonomous_mode() {
if ( (mid, left2, right2 channels detect
black line) or (mid and (left2 or
right2 channels detect black line)) ) {
forward() until not true;
} else if((left1 or left2 channels detect
black line) and (right channels
do not detect black line))
{go_left() until not true;
} else if((all left channels) and (right2
channel detect black line)) {
go_left() until not true; }
else if((right1 or right2 channels
detect black line) and (left
channels do not detect black
line)){
go_right() until not true;
} else if((all right channels) and (left2
channel detect black line)){
go_right() until not
true; }else
if(out of track){
search() until not rue;
} Service). But for this study, the GSM module only focused
} on using the messaging system and voice call system.
forward() {
Both motors are on;
} translating the DTMF dial tones coming from the
go_right() {
Right motor is off;
Left motor is on;
}
go_left() {
Right motor is on;
Left motor is off;
}
search() {
ArGUS would turn right as its search
pattern;
}
There were a total of six methods that were used to come
up with the algorithm for the Autonomous Patrolling
Module. The methods and their description are as follows:
1. read_lineSensor()
This method is responsible for transforming the
inputs coming from the five channel line tracking
sensor into digital values. Whenever the black
line is detected by the sensor, the returned value
would be 1 and would return 0 for other colors;
2. autonomous_mode()
the robot based on the readings that came from
the five channel line tracking sensor;
3. forward()
This method will be the one responsible for
telling if ArGUS would drive forward until a
curve black line is detected;
4. go_right()
This method will tell ArGUS to turn to its right
by turning off the right motor and making the left
motor to actively face ArGUS to its right;
5. go_left()
This method will tell ArGUS to turn to its left by
turning off the left motor and making the right
motor to actively face ArGUS to its left;
6. search()
This method is responsible for finding the track of ArGUS
in case it goes out of its designated track. The search will
only stop when the track is found.
3.3.d. DTMF Controller Module
According to Arduino [2], GSM is an
international standard for mobile telephones also it supports
outgoing and incoming voice calls, SMS and data
communications (via GPRS - General Packet Radio
Using the voice call system of the GSM, the DTMF will
serve as the primary controller of the ArGUS. Upon
authorized user’s phone, the DTMF decoder would produce
a different binary digit pattern that represents each number
in the phone’s keypad. The Algorithm 3 shows how the
DTMF controller module was implemented.
 Algorithm 3: DTMF (Dual Tone Multi If the call has ended, ArGUS would then return to its
Autonomous Patrolling Mode.
Frequency) Controller Module
3.3.e. GSM Controller Module
#include "call.h" void
answer_call(){
Using the messaging system of the GSM shield,
if (call is from authorize) { the GSM Controller Module served as the backup
call.answer(); read_dtmf(); controller of the ArGUS. This module allows an authorized
} else { user to send commands regarding the motion of the ArGUS
reject(); via SMS. A user is considered authorized if the mobile
} number used in sending the command is saved in the SIM card
placed inside the GSM shield. Algorithm 4 is implemented in the
} GSM Controller Module.

void read_dtmf() {
Algorithm 4: GSM Controller Module
if (0001 was translated by the DTMF sms_controller() {
decoder){
Check if a sms is present;
forward();
if(sms is not authorized) {
} else if(0101 was translated by the Delete SMS received;
DTMF decoder ) { } else {
breaks(); Get authorized SMS;
} else if(1101 was translated by the if (SMS is equal to "F" or "f"
DTMF decoder) { only) {
go_right();
Forward for 2
} else if(1100 was translated by seconds;
the DTMF decoder) {
go_left();
} Delete the SMS
} received;
} else if(SMS is equal to "L"
or "l" only) {
The ArGUS would first check if there is an incoming call.
Turn left for 2 seconds
If the incoming call is unauthorized it would be rejected.
Upon answering an authorize call, it would check if a
keypad is pressed and if a DTMF dial tone was sent. Four Delete the SMS received;
keypads were programmed to become the controls of the } else if(SMS is equal to "R" or
ArGUS. Keypad “8” with a binary digit of "r" only) {
0001 serves as the forward in the controller.
Turn Right for 2 seconds;
Keypad “0” with a binary number of 0101 serves as the
break in the controller. While keypad “*” with a binary Delete the SMS received;
digit of 1100 and keypad “#” with a binary digit of 1101 } else if(SMS is equal to
serves as the left turn and the right turn of the controller, “PATROL” only) {
respectively. This module also used the methods from the
Set ArGUS to its
Autonomous Patrolling Module like the forward(),
go_right(), go_left() and the following methods: Autonomous
1. answer_call() Patrolling mode;
This method will check whether a call is
authorize or not; Delete the SMS received;
2. call.answer() } else {
This method is responsible for answering or Delete SMS;
receiving a call from an authorized number;
}
3. reject()
}
This method is the one that rejects unauthorized
numbers; }

4. read_dtmf()
This method reads the keytone pressed and The sms_controller() method would be the one facilitating
converts it to binary codes. A binary code has a the operations under the GSM Controller Module. This
corresponding movement; method is responsible for interpreting the sent commands
5. breaks() for the movements of the ArGUS over the SMS by the user.
This method is responsible for commanding This method would first check if there is an SMS sent by an
ArGUS to stop or take break. authorized personnel.

If an SMS from an unauthorized sender was received, it
would be deleted. Upon getting the SMS from an
authorized user it would then check if the SMS contained
the characters “F” or “f” for the forward command, “L” or
“l” for the turning left command and “R” or “r” for the
turning right command.
The user may also change back the ArGUS to its
autonomous patrolling mode by sending an SMS
containing “PATROL”. When an SMS containing a
command is received, it would then be interpreted as a
movement of the ArGUS. After the command is executed,
it would delete the SMS received. This was done to free the
SIM card’s memory.
3.4.1.a Testing of the prototype
To ensure the functionality of the modules and the
integration of the hardware resources, several testing
activities have been done and captured. Below are some
snap shots of the testing activities which also include the
video links for the testing activities.
Intrusion Detection and SMS Notification Module
The video for the testing of the DTMF controller and
Camera Streaming Module can be seen on the link:
https://www.youtube.com/watch?v=MqA57lTYOk8

3.4.1. The Prototype

The Figure 12 shows the working prototype. This prototype

is named ArGUS meaning
“Arduino-based Guardian Utility Service”. It can patrol on
its own without the user controlling it provided that it is
guided with a line track. It also has the capabilities to detect
an unwanted intrusion and notify the authorized personel. It
can also be controlled via DTMF dial tones and SMS
commands.
Camera Streaming Module

Autonomous Patrolling Module

The video for the testing of the Autonomous

Patrolling Module can be seen on the link
https://www.youtube.com/watch?v=GQmRkqRmZuQ

Figure 12: The ARGUS Prototype

DTMF Controller Module
The video for the testing of the DTMF
controller module can be seen on the link:
https://www.youtube.com/watch?v=CKMDM4
_4JFw
Figure 13. ArGUS integrated hardware and libraries
GSM Controller Module
The video for the testing of the GSM
Controller Module can be seen on the link:
https://www.youtube.com/watch?v=a-
hm4dlSOA4
3.4.2. The Libraries
This section of the paper shows the connection between the
library modules with the hardware resources.The Intrusion
and SMS Notification Module needs the GSM shield and
the PIR sensor to be able to detect and send SMS
notification regarding an intrusion to the authorized
personnel. The DTMF and GSM Controller Module will
need the GSM shield for this is where the dial tones and the
SMS commands will be received. The DTMF decoder will
translate the DTMF dial tones to be able to make the
DTMF Controller Module understand the commands of the
authorize personnel. The Autonomous Patrolling Module
will need the mobile platform as the base frame of the
ArGUS, the 5 channel line sensor for detecting the line
track and the motor shield for the manipulation of the DC
motors of the mobile platform. The Wireless Network IP
Camera will be sending live streams regarding the area of
the patrol routine of the ArGUS.
3.5 Challenges in the Integration
In the development of this project, the researchers faced a
lot of obstacles. Mainly, the researchers have to order most
of their needed materials online, thus, there are no means to
check the state of the items purchased.
Another major issue that the group faced was the change in
mobile platform from a bigger platform to the smaller one.
In Figure 14, the left image shows the bigger platform that
was described in this section and the platform that replaced
it is shown on the right
Figure 14. Platforms Used in the Development
A major factor considered in changing the bigger platform
was the difficulty in manipulating it during the testing
stage.
With a fully charged battery, the bigger platform would
also run faster than usual, causing it to get out of the track
easily. The behavior of the bigger platform does not
comply with the assigned speed in the code. The group then
tried implementing the usage of the motor shield, hoping
that the speed of the bigger platform can be controlled, but
it wasn’t effective for the result was different from what
was expected by the group. It seemed that the platform still
does not follow the code that was uploaded to it. Plus the
motor gears of the bigger platform does not move together
at the same time. One of the motor gears is delayed than
the other making the platform harder to run in a straight
path. Due to the continuous testing of the bigger platform,
the controller attached to it and the Arduino board over
heated. Because of the cons observed with the usage of the
bigger platform, the group then decided to shift to a smaller
platform.
The problem with the second platform shown at the right of
Figure 14 was that its gears were deteriorating which also
affects its movement. The group once again tried to look
for another platform. The researchers now finally used a
fully functional platform as shown in Figure 15 for the
development of the ArGUS.
Another issue faced by the group was in terms of the
autonomous mode of the ArGUS. The group has
discovered that the line sensor needs to be accompanied by
a white LED (Light Emitting Diode) lights so that the
sensor can fully see the track that was needed to be
followed. The five channel line tracking sensor’s light
accompaniment was needed for the researchers have
observed that whenever the prototype’s track is placed in a
dark area the prototype goes out of track. This was because
the shadow of the prototype is interfering with the light
sensor in detecting the black line making the sensors blind.
In addition, the line sensor must be placed as close as
possible to the surface of the track.
Another issue faced by the group is the unavailability of the
WIFI (Wireless Fidelity) shield. Due to this issue, the
researchers were not able to create a mobile application for
the controller and monitoring purposes of the ArGUS.
Figure.15 Final Platform Used in the Development.
4. CONCLUSION
The research aimed to develop an alternative solution in
addressing security monitoring task using an open
hardware platform – Arduino. For the software resource,
the library developed and integrated in the prototype used
Arduino-based C as the programming language. The library
was composed of five modules that were developed and
used by the Arduino UNO microcontroller to operate the
prototype – the Intrusion Detection and SMS Notification
Module, Camera Streaming Module, Autonomous
Patrolling Module, DTMF Controller Module and GSM
Controller Module.
In the development of the software and hardware system
model, appropriate hardware resources were integrated
with algorithms from a specific module of the created
library to come up with a monitoring process through
intrusion detection, alert notification and remote controlled
intervention. For the intrusion detection and alert
notification, the module under it is the Intrusion Detection
and SMS Notification Module which is responsible for
notifying authorized personnel when an intrusion detection
event was detected through SMS. This module made use of
the GSM shield and PIR sensor. Another module for the
intrusion detection is the Camera Streaming Module, it is
responsible for the live monitoring purposes of ArGUS and
send live stream videos of area being monitored when an
intrusion event is detected. This module made use of a
Wireless Network IP Camera. Lastly, for the intrusion
detection, the Autonomous Patrolling Module was for the
prototype’s autonomous patrolling routine that made use of
the motor shield and the mobile platform. For the remote
controlled intervention, the DTMF Controller Module
served as the primary controller of the ArGUS which made
use of GSM shield and DTMF decoder. Another is the
GSM Controller Module that served as the backup
controller of the prototype. This module allows an
 authorized user to send commands regarding the motion of [3]
the ArGUS via SMS.
For the configurations of the hardware resources, the PIR
sensor was responsible for the sudden detection of motion
within the surroundings of the ArGUS. This sensor works
together with another device which is the GSM shield. The
GSM shield enables the prototype to receive and send
SMS. These SMS is the alert messages when the PIR [4]
detects an unwanted movement in its surrounding area.
This covers the notification activities under the monitoring
process. For the remote control intervention, there are two
ways by which ArGUS can be controlled manually through
the aid of a mobile phone. The first way was through the
use of a DTMF decoder. With the DTMF decoder, DTMF [5]
dial tones would be used to control the ArGUS. The DTMF
decoder was used in the study to translate these dial tones
into movements of the ArGUS. The other way was through
a GSM messaging system. Authorized personnel can send
SMS containing commands to control the movement of the
[6]
prototype. Other SMS sent that was not part of the
registered list of commands or ArGUS received an SMS
from a registered number would not be recognized by the
prototype. If an unregistered number would send an SMS to
ArGUS, the message would automatically be deleted. All
the said hardware resources are connected to the Arduino
[7]
UNO microcontroller which is the central part of the
ArGUS. Hardware devices are all placed inside the mobile
platform.
5. RECOMMENDATONS
The following are recommended to further improve the [8]
system:
1. The improvement of the Autonomous patrolling mode
by removing the line track. Implement a trackless
Autonomous Patrolling Mode;
2. The creation of a charging station to supply power to [9]
the ArGUS in case it senses a low battery condition.
3. The creation of the mobile or computer application
that would support the controlling and intrusion
detection capabilities of the ArGUS;
[10]
4. Creation of more Arduino program libraries that can
easily support the capabilities of an open hardware.
6.REFERENCES
[11]
[1] Adafruit Industries. PIR Sensor 2014.
Retrieved from https://learn.adafruit.com/pir-
passive-infrared-proximity-motion-
sensor/overview
[12]
[2] Arduino. Arduino GSM Shield. 2015.
Retrieved from
http://arduino.cc/en/Guide/ArduinoGSMShield
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