SIMATUPANG, Frengki; MANALU, Istas Pratomo; SIAGIAN, Pandapotan; SIGIRO, Marojahan Mula Timbul; WOWILING, Gerry Italiano; SINAMBELA, Eka Stephani; SARAGIH, Ripandy; YOSHEVA, Grace; SILAEN, Romaito. A Web-Based Navigation Control System for Lake Toba Cleaning Using NodeMCU ESP8266 and Pulse Width Modulation (PWM). Piston: Journal of Technical Engineering, [S. l.], v. 9, n. 1, p. 40–53, 2025. DOI: 10.32493/pjte.v9i1.51670. Disponível em: https://openjournal.unpam.ac.id/index.php/Piston/article/view/51670. Acesso em: 12 jan. 2026.