Task: Question Generation
Input (English): The fourth Digimon series, which began airing on April 7, 2002, radically departs from the previous three by focusing on a new and very different kind of evolution, Spirit Evolution, in which the human characters use their D-Tectors (this series' Digivice) to transform themselves into special Digimon called Legendary Warriors, detracting from the customary formula of having digital partners. After receiving unusual phone messages from Ophanimon (one of the three ruling Digimon alongside Seraphimon and Cherubimon) Takuya Kanbara, Koji Minamoto, Junpei Shibayama, Zoe Orimoto, Tommy Himi, and Koichi Kimura go to a subway station and take a train to the Digital World. Summoned by Ophanimon, the Digidestined realize that they must find the ten legendary spirits and stop the forces of Cherubimon from physically destroying the Digital World. After finding the ten spirits of the Legendary Warriors and defeating Mercurymon, Grumblemon, Ranamon, and Arbormon, they finally end up fighting Cherubimon hoping to foil his effort to dominate the Digital World. After the defeat of Cherubimon, the Digidestined find they must face an even greater challenge as they try to stop the Royal Knights—Dynasmon and Crusadermon—from destroying the Digital World and using the collected data to revive the original ruler of the Digital World: the tyrannical Lucemon. Ultimately the Digidestined fail in preventing Lucemon from reawakening but they do manage to prevent him from escaping into the Real World. In the final battle, all of the legendary spirits the digidestined have collected thus far merge and create Susanoomon. With this new form, the digidestined are able to effectively defeat Lucemon and save the Digital World. In general, Frontier has a much lighter tone than that of Tamers, yet remains darker than Adventure and Adventure 02.
Output (English): When did the fourth series of Digimon begin?