Various embodiments of an apparatus, system, and method are disclosed for reducing NOx emissions using ammonia storage on an SCR catalyst. A charging device for realizing the charging method is also disclosed. The code generator includes a class allocator that reserves one or more method slots for a dynamic method call. An embodiment further exhibits a large memory window and a single-electron drain current. A method for determining the actual output torque of a motor includes sensing a temperature within the motor, calculating a rotor magnet temperature from the sensed temperature, and calculating the actual output mechanical torciue from the rotor magnet temperature. The annealing the semiconductor substrate in the second process chamber removes the byproduct.