In addition to the answer by ProGM, in case you see characters in boxes like NUL or ACK and want to get rid of them, those are ASCII control characters (0 to 31), you can find them with the following expression and remove them:
[\x00-\x1F]+
In order to remove all non-ASCII AND ASCII control characters, you should remove all characters matching this regex:
[^\x1F-\x7F]+