This paper presents a channel-wise average pooling and one dimension pixel-shuffle architecture for a denoising autoencoder (CPDAE) design that can be applied to efficiently remove electrode motion (EM) artifacts in an electrocardiogram (ECG) signal. The three advantages of the proposed design are as follows: (1) In the skip connection layer, less memory is needed to transfer the features extracted by the neural network; (2) Pixel shuffle and pixel unshuffle techniques with point-wise convolution are used to effectively reserve the key features generated from each layer in both the encoder and decoder; (3) Overall, fewer parameters are required to reconstruct the ECG signal. This paper describes three deep neural network models, namely CPDAE_Lite, CPDAE_Regular, and CPDAE_Full, which support various computational capacity and hardware arrangements. The three proposed structures involve an encoder and decoder with six, seven, and eight layers, respectively. Furthermore, the CPDAE_Lite, CPDAE_Regular, and CPDAE_Full structures require fewer multiply-accumulate operations—355.01, 56.96, and 14.69 million, respectively—and less parameter usage—2.69 million, 149.7 thousand, and 55.5 thousand, respectively. To evaluate the denoising performance, the MIT–BIH noise stress test database containing six signal-to-noise ratios (SNRs) of noisy ECGs was employed. The results demonstrated that the proposed models had a higher improvement of SNR and lower percentage root-mean-square difference than other state-of-the-art methods under various conditions of SNR.

The discriminative object tracking system for unmanned aerial vehicles (UAVs) is widely used in numerous applications. While an ample amount of research has been carried out in this domain, implementing a low computational cost algorithm on a UAV onboard embedded system is still challenging. To address this issue, we propose a low computational complexity discriminative object tracking system for UAVs approach using the patch color group feature (PCGF) framework in this work. The tracking object is separated into several non-overlapping local image patches then the features are extracted into the PCGFs, which consist of the Gaussian mixture model (GMM). The object location is calculated by the similar PCGFs comparison from the previous frame and current frame. The background PCGFs of the object are removed by four directions feature scanning and dynamic threshold comparison, which improve the performance accuracy. In the terms of speed execution, the proposed algorithm accomplished 32.5 frames per second (FPS) on the x64 CPU platform without a GPU accelerator and 17 FPS in Raspberry Pi 4. Therefore, this work could be considered as a good solution for achieving a low computational complexity PCGF algorithm on a UAV onboard embedded system to improve flight times.