CMOS image sensor devices and fabrication methods thereof. A second bidirectional switch discharges energy from the load during an off-phase of the first bidirectional switch. A Karman filter for accelerationdeceleration estimates the pitch angle of a vehicle body on the basis of a wheel speed and the corrected x-direction acceleration and z-direction acceleration when the motorcycle is accelerated and decelerated. The system obtains a first channel state information associated with the regular UEs, receives a second CSI associated with the CoMP UEs from the second BS, and constructs a local precoder for the first cell in accordance with the first CSI and the second CSI. The digital camera stores the group data, which is received from the personal computer, in a content memory unit. The hydrocracker reaction products or a heavy oil and hydrogen donor diluent may be advantageously heated by direct contact with high velocity combustion products.