Simatupang, F. et al. 2025. A Web-Based Navigation Control System for Lake Toba Cleaning Using NodeMCU ESP8266 and Pulse Width Modulation (PWM). Piston: Journal of Technical Engineering. 9, 1 (Aug. 2025), 40–53. DOI:https://doi.org/10.32493/pjte.v9i1.51670.