Simatupang, Frengki, Istas Pratomo Manalu, Pandapotan Siagian, Marojahan Mula Timbul Sigiro, Gerry Italiano Wowiling, Eka Stephani Sinambela, Ripandy Saragih, Grace Yosheva, and Romaito Silaen. “A Web-Based Navigation Control System for Lake Toba Cleaning Using NodeMCU ESP8266 and Pulse Width Modulation (PWM)”. Piston: Journal of Technical Engineering 9, no. 1 (August 10, 2025): 40–53. Accessed January 12, 2026. https://openjournal.unpam.ac.id/index.php/Piston/article/view/51670.