The invention provides a noise removal device and method capable of more proper interpolation on an input signal. Optional features include second forwardly directed camera to provide a three dimensional image sensors for sensing walls or obstacles and transmission of data to external processorcontrollers by a radio antenna. The result is that precipitation of the Factor Xa inhibitor in the form of its insoluble free base is minimized during dissolution of the Factor Xa inhibitor thereby increasing its oral bioavailability.