Floating Robot Control System for Monitoring Water Quality Levels in Citarum River Water is the primary need of every living thing, with the availability of water for living things, it is very helpful for daily needs. Especially river water in Indonesia has been heavily polluted, the pollution can come from industrial, household, agricultural and fishery waste. Therefore, the purpose of this research is to make a robotic solution to monitor river water quality regularly and can be monitored in realtime. The results obtained from this test are spherical robots and for fuzzy logic controller systems use 5 membership functions for yaw parameters with a sensor reading angle limit value 90xc2xb0, 90xc2xb0. For the pitch parameter, there are 3 membership functions with the limitation of sensor reading angle value 32xc2xb0, 32xc2xb0. There is a moving average as a filter to process the reading value of the gyroscope with a sample value of 10 times the reading because the response is following the actual reading and minimal noise. Dispatch of robot control commands can be sent and received in realtime. Haversine Formula calculation results have an accuracy of 92.67076% compared to the calculation of the distance from google maps

Design of IoTBased River Water Monitoring Robot Data Transmission Model Using Low Power Wide Area Network (LPWAN) Communication Technology River water monitoring system is one of the efforts as a contribution to control the pollution andor damage of the Citarum watershed in Indonesia based on Presidential Decree Number 15 of 2018. Monitoring of Citarum River water quality is essential because it is to know its condition. Despite that, regular monitoring requires water samples to be taken to the laboratory to be tested. Therefore it is not realtime and wasteful of energy. In this paper, a design of IoTbased river water quality monitoringsystem using LPWAN communication technology will be proposed so that monitoring points on the Citarum watershed can be monitored in realtime and the results of monitoring data will be stored in the server for data logging. A test about communication range is performed with four nodes and one gateway with LoRa transceiver paired with Arduino boards, as LPWAN communication method, to be able to exchange information in terms of hardware and implement network mesh topologies to widen monitoring points in terms of software. It is shown from the test result that the communication range for the transmission between node to node or node to gateway reaches a maximum of 500 m close on the surface of the water.