  Radar-based techniques for detecting vital signs have shown promise for
continuous contactless vital sign sensing and healthcare applications. However,
real-world indoor environments face significant challenges for existing vital
sign monitoring systems. These include signal blockage in non-line-of-sight
(NLOS) situations, movement of human subjects, and alterations in location and
orientation. Additionally, these existing systems failed to address the
challenge of tracking multiple targets simultaneously. To overcome these
challenges, we present MEDUSA, a novel coherent ultra-wideband (UWB) based
distributed multiple-input multiple-output (MIMO) radar system, especially it
allows users to customize and disperse the $16 \times 16$ into sub-arrays.
MEDUSA takes advantage of the diversity benefits of distributed yet wirelessly
synchronized MIMO arrays to enable robust vital sign monitoring in real-world
and daily living environments where human targets are moving and surrounded by
obstacles. We've developed a scalable, self-supervised contrastive learning
model which integrates seamlessly with our hardware platform. Each attention
weight within the model corresponds to a specific antenna pair of Tx and Rx.
The model proficiently recovers accurate vital sign waveforms by decomposing
and correlating the mixed received signals, including comprising human motion,
mobility, noise, and vital signs. Through extensive evaluations involving 21
participants and over 200 hours of collected data (3.75 TB in total, with 1.89
TB for static subjects and 1.86 TB for moving subjects), MEDUSA's performance
has been validated, showing an average gain of 20% compared to existing systems
employing COTS radar sensors. This demonstrates MEDUSA's spatial diversity gain
for real-world vital sign monitoring, encompassing target and environmental
dynamics in familiar and unfamiliar indoor environments.
