US5333874A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Sports simulator
Assignee: FULL SWING Inc
•
Filing: 1992-05-06
•
Granted: 1994-08-02
•
Expires: 2012-05-06
Abstract
Abstract A sports simulator has a housing and two arrays of IR receivers and emitters positioned in the housing. A launch area is established near one end of the housing, and a user can launch an object such as a golf ball located in the launch area and drive the ball into the housing through the planes defined by the arrays of emitters and against a screen positioned at one end of the housing. A computer is connected to the IR receivers, which detect the passage of the object through the respective plane. Based upon the signals from the receivers the computer, using triangulation techniques, determines the horizontal and vertical position, as well as the velocity, of the object. The computer can also determine the spin of the golf ball, and cause an image of the golf ball, as it would have appeared travelling away from the golfer had it not encountered the screen, to be displayed on the screen.
Inventors
- 👤 Floyd L. Arnold
- 👤 Carl J. Bair
- 👤 Christopher M. Kiraly
- 👤 William P. Norgren
- 👤 George V. Wintriss
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 22:07
CPC Classifications
A; A63; A63B; A63B24/00; A63B24/0021; A63B69/00; A63B69/36; A63B69/3658; A63B2024/0028; A63B2024/0034; A63B2102/00; A63B2102/32; A63B2220/00; A63B2220/30; A63B2220/34; A63B2220/35; A63B2220/80; A63B2220/805
Claims Analysis
Total Claims: 58
Claim 1
Independent Claim
297 words
A sports simulator, comprising: a launch area from which an object can be accelerated; a screen distanced from the launch area in the direction of travel of the object; first and second emitters for transmitting electromagnetic radiation, the emitters being distanced from the launch area in the direction of travel of the object; a first array of receivers distanced from the launch area in the direction of travel of the object and interposed between the launch area and the screen, at least some of the receivers in the first array being positioned to receive radiation from the first emitter and generating respective signals in response thereto, the first array of receivers being arranged in a first plane; a second array of receivers arranged in a second plane and interposed between the screen and the first array of receivers in the direction of travel of the object, at least some of the receivers in the second array being positioned to receive radiation from the second emitter and generating respective signals in response thereto; and a computer electrically connected to both arrays of receivers for producing an estimate of the projected position of the object based on the translational velocity of the object which is determined from first and second signals from the receivers indicative of first and second positions of the object detected by the first and second arrays of receivers respectively, and upon the rotational velocity of the object which is determined from the second signal indicative of the second position, from a third signal indicative of the position of the object relative to the second array of receivers after the object has rebounded from the screen, and from at least one rotational velocity value selected from a plurality of rotational velocity values stored in the computer.
Claim 2
Dependent Claim
297 words
A sports simulator, comprising: a launch area from which an object can be accelerated; a screen distanced from the launch area in the direction of travel of the object; first and second emitters for transmitting electromagnetic radiation, the emitters being distanced from the launch area in the direction of travel of the object; a first array of receivers distanced from the launch area in the direction of travel of the object and interposed between the launch area and the screen, at least some of the receivers in the first array being positioned to receive radiation from the first emitter and generating respective signals in response thereto, the first array of receivers being arranged in a first plane; a second array of receivers arranged in a second plane and interposed between the screen and the first array of receivers in the direction of travel of the object, at least some of the receivers in the second array being positioned to receive radiation from the second emitter and generating respective signals in response thereto; and a computer electrically connected to both arrays of receivers for producing an estimate of the projected position of the object based on the translational velocity of the object which is determined from first and second signals from the receivers indicative of first and second positions of the object detected by the first and second arrays of receivers respectively, and upon the rotational velocity of the object which is determined from the second signal indicative of the second position, from a third signal indicative of the position of the object relative to the second array of receivers after the object has rebounded from the screen, and from at least one rotational velocity value selected from a plurality of rotational velocity values stored in the computer.
Claim 3
Dependent Claim
22 words
The simulator of claim 1, wherein the computer produces an estimate of the projected position of the object in two dimensional coordinates.
Claim 4
Dependent Claim
22 words
The simulator of claim 1, wherein the computer produces an estimate of the projected position of the object in three dimensional coordinates.
Claim 5
Dependent Claim
29 words
The simulator of claim 1, further comprising a housing having a first end and a second end, the launch area being located near the first end of the housing.
Claim 6
Dependent Claim
48 words
The simulator of claim 4, wherein the screen is attached to the housing and covers the second end of the housing for stopping the object from passing through the second end of the housing, the screen also establishing a substrate on which a video display can be projected.
Claim 7
Dependent Claim
14 words
The simulator of claim 5, wherein the screen is made of shock absorbing material.
Claim 8
Dependent Claim
59 words
The simulator of claim 1, wherein the housing has an interior surface, and the first plane intersects the interior surface, the intersection of the first plane and interior surface establishing the edge of a first polygon, wherein the emitters in the first array are mounted on the interior surface of the housing along the edge of the first polygon.
Claim 9
Dependent Claim
59 words
The simulator of claim 2, wherein the housing has an interior surface, and the second plane intersects the interior surface, the intersection of the second plane and interior surface establishing the edge of a second polygon, wherein the emitters in the second array are mounted on the interior surface of the housing along the edge of the second polygon.
Claim 10
Dependent Claim
53 words
The simulator of claim 8, wherein the first emitter is mounted on the interior surface of the housing and establishes a portion of the edge of the first polygon, and the second emitter is mounted on the interior surface of the housing and establishes a portion of the edge of the second polygon.
Claim 11
Dependent Claim
90 words
The simulator of claim 9, further comprising a first plurality of emitters mounted on the housing and positioned on the edge of the first polygon, a line of sight being established between at least one of the first emitters and at least one of the receivers in the first array, and a second plurality of emitters mounted on the housing and positioned on the edge of the second polygon, a line of sight being established between the second emitter and at least one of the receivers in the second array.
Claim 12
Dependent Claim
30 words
The simulator of claim 10, wherein the emitters in the first plurality are electrically connected to the computer, and the computer causes the emitters to sequentially emit infrared radiation pulses.
Claim 13
Dependent Claim
54 words
The simulator of claim 11, wherein the object passing through the edge of the first polygon interrupts the line of sight between at least one of the emitters and at least one of the receivers in the first array to cause the receiver to generate a signal representative of the passage of the object.
Claim 14
Dependent Claim
30 words
The simulator of claim 12, wherein the emitters in the second plurality are electrically connected to the computer, and the computer causes the emitters to sequentially emit infrared radiation pulses.
Claim 15
Dependent Claim
54 words
The simulator of claim 13, wherein the object passing through the edge of the second polygon interrupts the line of sight between at least one of the emitters and at least one of the receivers in the second array to cause the receiver to generate a signal representative of the passage of the object.
Claim 16
Dependent Claim
53 words
The simulator of claim 14, further comprising a video projector electrically connected to the computer, wherein the computer generates a signal representative of the trajectory of the object, and causes a video image of the object as it would have appeared, had it not encountered the screen, to be displayed on the screen.
Claim 17
Dependent Claim
48 words
The simulator of claim 1, wherein the plurality of rotational velocity data values stored in the computer is comprised of a plurality of damping coefficient values representative of the amount of rotational energy of the object that is damped when the object comes in contact with the screen.
Claim 18
Dependent Claim
43 words
The simulator of claim 16, wherein the plurality of stored rotational velocity values further comprises a plurality of conversion factor values representative of the amount of rotational energy that is changed into translational energy when the object comes in contact with the screen.
Claim 19
Dependent Claim
75 words
The simulator of claim 17, wherein the plurality of damping coefficient values and the plurality of conversion factors are empirical values selected to model the projected path of the object and wherein the computer selects one of the plurality of damping coefficient values and one of the plurality of conversion factors based at least in part on the second signal indicative of the second position of the object as the object travels toward the screen.
Claim 20
Dependent Claim
62 words
The simulator of claim 1, wherein the plurality of rotational velocity data values is comprised of a plurality of empirically determined object spin values and the computer selects one of the plurality of empirically determined object spin values at least in part based on the second and third signals indicating the position of the object relative to the second array of receivers.
Claim 21
Dependent Claim
283 words
A golf simulator, comprising: a computer, a projector electrically connected to the computer; a housing having a tee area from which a golf ball can be accelerated; a screen attached to the housing and distanced from the tee area in the direction of motion of the golf ball for preventing the golf ball from passing beyond the screen, wherein the computer generates a first control signal representative of translational velocity and a second control signal representative of rotational velocity of the golf bal, and wherein the computer causes the projector to project a video image of the golf ball as it would have appeared, had it not encountered the screen, on the screen based on the first and second control signals; and means for generating a plurality of sensing signals in response to motion of the golf ball though the housing, the generating means comprising first and second arrays of motion sensors arranged in respective first and second planes within the housing, the planes being disposed between the tee area and the screen wherein the first and second array of motion sensors produce first and second sensing signals indicative of the position of the golf ball in the first and second planes respectively as the golf ball travels toward the screen and a third sensing signal indicative of the position of the golf ball in the second plane after the golf ball rebounds from the screen, wherein the computer uses the second and third sensing signals along with at least one rotational velocity data value selected from a plurality of rotational velocity data values stored in the computer to produce the second control signal representative of the rotational velocity of the golf ball.
Claim 22
Dependent Claim
283 words
A golf simulator, comprising: a computer, a projector electrically connected to the computer; a housing having a tee area from which a golf ball can be accelerated; a screen attached to the housing and distanced from the tee area in the direction of motion of the golf ball for preventing the golf ball from passing beyond the screen, wherein the computer generates a first control signal representative of translational velocity and a second control signal representative of rotational velocity of the golf bal, and wherein the computer causes the projector to project a video image of the golf ball as it would have appeared, had it not encountered the screen, on the screen based on the first and second control signals; and means for generating a plurality of sensing signals in response to motion of the golf ball though the housing, the generating means comprising first and second arrays of motion sensors arranged in respective first and second planes within the housing, the planes being disposed between the tee area and the screen wherein the first and second array of motion sensors produce first and second sensing signals indicative of the position of the golf ball in the first and second planes respectively as the golf ball travels toward the screen and a third sensing signal indicative of the position of the golf ball in the second plane after the golf ball rebounds from the screen, wherein the computer uses the second and third sensing signals along with at least one rotational velocity data value selected from a plurality of rotational velocity data values stored in the computer to produce the second control signal representative of the rotational velocity of the golf ball.
Claim 23
Dependent Claim
79 words
The simulator of claim 20, further comprising: a first plurality of infrared radiation emitters mounted on the housing and establishing the first plane, the first plane intersecting the housing to establish an edge of a first polygon, the emitters being positioned on the edge of the first polygon; and a second plurality of infrared radiation emitters mounted on the housing and establishing the second plane, the second plane intersecting the housing to establish an edge of a second polygon.
Claim 24
Dependent Claim
103 words
The simulator of claim 21, further comprising: a first array of receivers positioned on the edge of the first polygon, at least some of the receivers in the first array being positioned to receive the infrared radiation from at least one emitter in the first plurality of emitters and generating respective signals in response thereto; a second array of receivers positioned on the edge of the second polygon, at least some of the receivers in the second array being positioned to receive the infrared radiation from at least one emitter in the second plurality of emitters and generating respective signals in response thereto.
Claim 25
Dependent Claim
31 words
The simulator of claim 22, wherein emitters in the first plurality of emitters are electrically connected to the computer, and the computer causes the emitters to sequentially emit infrared radiation pulses.
Claim 26
Dependent Claim
54 words
The simulator of claim 23, a golf ball passing through the edge of the first polygon interrupts the line of sight between at least one of the emitters and at least one of the receivers in the first array to cause the receiver to generate a signal representative of the passage of the ball.
Claim 27
Dependent Claim
30 words
The simulator of claim 24, wherein the emitters in the second plurality are electrically connected to the computer, and the computer causes the emitters to sequentially emit infrared radiation pulses.
Claim 28
Dependent Claim
55 words
The simulator of claim 25, wherein a golf ball passing through the edge of the second polygon interrupts the line of sight between at least one of the emitters and at least one of the receivers in the second array to cause the receiver to generate a signal representative of the passage of the ball.
Claim 29
Dependent Claim
49 words
The simulator of claim 20, wherein the plurality of rotational velocity values stored in the computer is comprised of a plurality of damping coefficient values representative of the amount of rotational energy of the golf ball that is damped when the golf ball comes in contact with the screen.
Claim 30
Dependent Claim
44 words
The simulator of claim 27, wherein the plurality of stored rotational velocity values further comprises a plurality of conversion factor values representative of the amount of rotational energy that is changed into translational energy when the golf ball comes in contact with the screen.
Claim 31
Dependent Claim
77 words
The simulator of claim 28, wherein the plurality of damping coefficient values and the plurality of conversion factors are empirical values selected to model the projected path of the golf ball, and the computer selects one of the plurality of damping coefficient values and one of the plurality of conversion factors based at least in part on the second signal indicative of the second position of the golf ball as the golf ball travels toward the screen.
Claim 32
Dependent Claim
62 words
The simulator of claim 20, wherein the plurality of rotational velocity values is comprised of a plurality of empirically determined object spin values and wherein the computer selects one of the plurality of empirically determined golf ball spin values at least in part based on the second and third signals indicating the position of the object relative the second array of receivers.
Claim 33
Independent Claim
221 words
A method for projecting a video image of a golf ball on a screen illustrating how the golf ball would have moved, had the golf ball not encountered the screen, comprising the steps of: accelerating the golf ball from a tee area toward the screen; sensing the passage of the golf ball through a first plane located between the tee area and the screen and generating a first signal in response thereto; sensing the passage of the golf ball through a second plane located between the first plane and the screen and generating a second signal in response thereto; computing, based on the first and second signals, the position and translational velocity of the golf ball as the golf ball struck the screen; sensing the passage of the golf ball through the second plane after the golf ball struck the screen and generating a third signal in response thereto; selecting at least one rotational velocity value form a plurality of rotational velocity values stored in a memory; computing the rotational velocity of the golf ball as the golf ball struck the screen using the second and third signals along with selected rotational velocity data values; and projecting a video image of the golf ball on the screen in accordance with the computed translational velocity and rotational velocity of the golf ball.
Claim 34
Independent Claim
221 words
A method for projecting a video image of a golf ball on a screen illustrating how the golf ball would have moved, had the golf ball not encountered the screen, comprising the steps of: accelerating the golf ball from a tee area toward the screen; sensing the passage of the golf ball through a first plane located between the tee area and the screen and generating a first signal in response thereto; sensing the passage of the golf ball through a second plane located between the first plane and the screen and generating a second signal in response thereto; computing, based on the first and second signals, the position and translational velocity of the golf ball as the golf ball struck the screen; sensing the passage of the golf ball through the second plane after the golf ball struck the screen and generating a third signal in response thereto; selecting at least one rotational velocity value form a plurality of rotational velocity values stored in a memory; computing the rotational velocity of the golf ball as the golf ball struck the screen using the second and third signals along with selected rotational velocity data values; and projecting a video image of the golf ball on the screen in accordance with the computed translational velocity and rotational velocity of the golf ball.
Claim 35
Dependent Claim
95 words
The method of claim 31, wherein the step of selecting at least one rotational velocity value from a plurality stored rotational velocity values includes the steps of: selecting one of a plurality of empirically determined damping coefficient values representative of the amount of rotational energy of the golf ball that is damped when the golf ball comes in contact with the screen; and selecting one of a plurality of empirically determined conversion factors representative of the amount of energy that is changed into translational energy when the golf ball comes in contact with the screen.
Claim 36
Dependent Claim
51 words
The method according to claim 32, wherein the computer selects one of the plurality of damping coefficient and one of the plurality of conversion factors based in part on the first and second and third signals indicative of the position of the ball as the ball passes through the second plane.
Claim 37
Dependent Claim
83 words
The method according to claim 33, wherein the step of selecting at least one rotational velocity value form a plurality of rotational velocity values stored in memory comprises the step of selecting a golf ball spin value form a plurality of empirically determined golf ball spin values based at least in part on the second and third signals indicative of the position of the golf ball in the second plane as the golf ball travels towards the screen and rebounds from the screen.
Claim 38
Dependent Claim
225 words
A sports simulator, comprising: a launching area for accelerating an object; a screen for displaying a projecting path of the accelerated object, which screen also prevents the object from travelling beyond said screen; a first sensor which detects the position of the object in a first plane interposed between the launching area and the screen, and which produces a first signal indicative thereof; a second sensor for detecting the location of the object in a second plane interposed between the launching area and the screen, said second sensor producing a second signal indicative of said location of the object in said second plane as the object travels from the launching area to the screen and said second sensor producing a third signal indicative of the location of the object in said second plane after the object has rebounded off of the screen; and a computer responsive to the first, second and third signals for determining translational velocity of the object using the first and second signals and for determining the rotational velocity of the object using the second and third signals along with at least one rotational velocity value selected from a plurality of rotational velocity values stored in the computer, wherein the computer uses the translational and rotational velocity to produce signals used to display the projected path of the object on the screen.
Claim 39
Dependent Claim
225 words
A sports simulator, comprising: a launching area for accelerating an object; a screen for displaying a projecting path of the accelerated object, which screen also prevents the object from travelling beyond said screen; a first sensor which detects the position of the object in a first plane interposed between the launching area and the screen, and which produces a first signal indicative thereof; a second sensor for detecting the location of the object in a second plane interposed between the launching area and the screen, said second sensor producing a second signal indicative of said location of the object in said second plane as the object travels from the launching area to the screen and said second sensor producing a third signal indicative of the location of the object in said second plane after the object has rebounded off of the screen; and a computer responsive to the first, second and third signals for determining translational velocity of the object using the first and second signals and for determining the rotational velocity of the object using the second and third signals along with at least one rotational velocity value selected from a plurality of rotational velocity values stored in the computer, wherein the computer uses the translational and rotational velocity to produce signals used to display the projected path of the object on the screen.
Claim 40
Dependent Claim
38 words
The simulator of claim 35, wherein the object is a golf ball and the simulator displays the projected path of the accelerated golf ball on the screen after the golf ball has been accelerated from the launching area.
Claim 41
Dependent Claim
47 words
The simulator of claim 35, wherein the plurality of rotational velocity values stored in the computer is comprised of a plurality of damping coefficient values representative of the amount of rotational energy of the object that is damped when the object comes in contact with the screen.
Claim 42
Dependent Claim
43 words
The simulator of claim 37, wherein the plurality of stored rotational velocity data values further comprises a plurality of conversion factors representative of the amount of rotational energy that is changed into translational energy when the object comes in contact with the screen.
Claim 43
Dependent Claim
73 words
The simulator of claim 35, wherein the plurality of damping coefficient values and the plurality of conversion factors are empirical values selected to model the projected path of the accelerated object and wherein the computer selects one of the plurality of damping coefficient values and one of the plurality of conversion factors based at least in part on the second signal indicative of the second position of the object in the second plane.
Claim 44
Dependent Claim
59 words
The simulator of claim 35, wherein the plurality of rotational velocity data values is comprised of a plurality of object spin values and the computer selects one of the plurality of empirically determined object spin values at least in part based on the second and third signals indicating the position of the object relative the second array of receivers.
Claim 45
Dependent Claim
49 words
The simulator of claim 35, wherein the plurality of rotational velocity values is empirically developed by repeatedly accelerating objects toward the screen, observing the characteristics of the objects as they hit the screen, and selecting representative values of the observed characteristics to constitute the plurality of rotational velocity values.
Claim 46
Dependent Claim
91 words
The simulator of claim 35, wherein the first sensor is comprised of a first emitter and a first array of receivers positioned relative to the first emitter so that at least some of the receivers receive radiation from the first emitter and generate respective signals in response thereto, and the second sensor is comprised of a second emitter and a second array of receivers positioned relative to the second emitter so that at least some of the receivers receive radiation from the second emitter and generate respective signals in response thereto.
Claim 47
Dependent Claim
60 words
The simulator of claim 42, wherein the first and second array of receivers are positioned so that the object prevents the radiation from the first and second emitters from reaching selected receivers in the first and second array of receivers when the object passes through a first and second plane respectively defined by the first and second array of receivers.
Claim 48
Dependent Claim
60 words
The simulator of claim 43, wherein the computer, in response to receiving the first and second signals from the first and second array of receivers, determines the position of the object in the first and second planes along the X axis and the Y axis as the object travels substantially in the direction of the Z axis toward the screen.
Claim 49
Dependent Claim
53 words
The simulator of claim 35, further comprising a housing wherein the launching area is positioned at substantially one end of the housing and the screen is positioned at substantially the other end of the housing with the first and second sensors positioned in the housing interposed between the launching area and the screen.
Claim 50
Dependent Claim
73 words
The simulator of claim 35, wherein the first sensor include a first plurality of emitters and receivers which are oriented along the X axis of the first plane and a second plurality of emitters and receivers which are oriented along the Y axis of the first plane, whereby the first and second plurality of emitters and receivers respectively detect the X position and the Y position of the object in the first plane.
Claim 51
Dependent Claim
73 words
The simulator of claim 46, wherein the second sensor include a third plurality of emitters and receivers which are oriented along the X axis of the second plane and a fourth plurality of emitters and receivers which are oriented along the Y axis of the second plane, whereby the third and fourth plurality of emitters and receivers respectively detect the X position and the Y position of the object in the second plane.
Claim 52
Dependent Claim
18 words
The simulator of claim 35, wherein the sensors are configured to monitor only the first and second planes.
Claim 53
Independent Claim
235 words
A method of projecting an image of an accelerated object on a screen illustrating the projecting path of the object, had the object not encountered the screen, comprising the steps of: accelerating the object from a launch area toward the screen; sensing the passage of the object through a first plane located between the launch area and the screen and generating a first signal in response thereto; sensing the passage of the object through a second plane located between the first plane and the screen and generating a second signal in response thereto; determining, based on the first and second signals, the position and translational velocity of the object as the object strikes the screen; sensing the passage of the object through the second plane after the golf ball has struck the screen and generating a third signal in response thereto; providing a plurality of rotational velocity data values selected to model the effects of rotation on the object; selecting at least one rotational velocity value from the plurality of rotational velocity values based at least in part on the second signal; determining the rotational velocity of the object at the time the object strikes the screen, based upon the second and third signals along with selected rotational velocity values; and projecting a video image of the object on the screen in accordance with the computer determined translational velocity and rotational velocity of the object.
Claim 54
Independent Claim
235 words
A method of projecting an image of an accelerated object on a screen illustrating the projecting path of the object, had the object not encountered the screen, comprising the steps of: accelerating the object from a launch area toward the screen; sensing the passage of the object through a first plane located between the launch area and the screen and generating a first signal in response thereto; sensing the passage of the object through a second plane located between the first plane and the screen and generating a second signal in response thereto; determining, based on the first and second signals, the position and translational velocity of the object as the object strikes the screen; sensing the passage of the object through the second plane after the golf ball has struck the screen and generating a third signal in response thereto; providing a plurality of rotational velocity data values selected to model the effects of rotation on the object; selecting at least one rotational velocity value from the plurality of rotational velocity values based at least in part on the second signal; determining the rotational velocity of the object at the time the object strikes the screen, based upon the second and third signals along with selected rotational velocity values; and projecting a video image of the object on the screen in accordance with the computer determined translational velocity and rotational velocity of the object.
Claim 55
Dependent Claim
49 words
The method of claim 49, wherein the plurality of rotational velocity values is empirically developed by repeatedly accelerating objects toward the screen, observing the characteristics of the objects as they hit the screen, and selecting representative values of the observed characteristics to constitute the plurality of rotational velocity values.
Claim 56
Dependent Claim
19 words
The method of claim 49, wherein the plurality of rotational velocity values comprises a plurality of object spin values.
Claim 57
Dependent Claim
41 words
The method of claim 49, wherein the plurality of rotational velocity values comprises a plurality of damping coefficient values representative of the amount of rotational energy of the object that is damped when the object comes in contact with the screen.
Claim 58
Dependent Claim
41 words
The method of claim 52, wherein the plurality of rotational velocity values further comprises a plurality of conversion factors representative of the amount of rotational energy that is changed into translational energy when the object comes in contact with the screen.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1997-08-01 | 1998-01-31 | 1998-08-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-08-01 | 2002-01-31 | 2002-08-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-08-01 | 2006-01-31 | 2006-08-02 | $7700.00 | Window Closed / Lapsed |