Question: After what year did the Canadarm become paired with the Orbiter Boom Sensor System?

Context articles: SOSUS
Hanze Institute of Technology
Orbiter Boom Sensor System
Long-Range Reconnaissance and Observation System
Space Shuttle Columbia disaster
Ricoh GXR
JLENS
Cisco Security Agent
Surveillance Towed Array Sensor System
Canadarm

SOSUS, an acronym for sound surveillance system, is a chain of underwater listening posts located around the world in places such as the Atlantic Ocean near Greenland, Iceland and the United Kingdom—the GIUK gap—and at various locations in the Pacific Ocean.
 The United States Navy's initial intent for the system was for tracking Soviet submarines, which had to pass through the gap to attack targets further west.
 It was later supplemented by mobile assets such as the Surveillance Towed Array Sensor System (SURTASS), and became part of the Integrated Undersea Surveillance System (IUSS).
The Institute of Engineering Assen is part of the Hanze University Groningen in the Netherlands.
 The Institute is based in Assen where it offers a Bachelor Programme in Electrical and Electronic Engineering and a Master Programme in Sensor System Engineering.
 It started in September 2008 as a European pioneer in the field of sensor technology education, and is working closely together with partners such as Astron and Nederlandse Aardolie Maatschappij (NAM) / Shell.
The Orbiter Boom Sensor System (OBSS) was a 50-foot boom carried on board NASA's Space Shuttles.
 The boom was grappled by the Canadarm and served as an extension of the arm, doubling its length to a combined total of 100 feet (30 m).
 At the far end of the boom was an instrumentation package of cameras and lasers used to scan the leading edges of the wings, the nose cap, and the crew compartment after each lift-off and before each landing.
 If flight engineers suspected potential damage to other areas, as evidenced in imagery captured during lift-off or the rendezvous pitch maneuver, then additional regions could be scanned.
Long-Range Reconnaissance and Observation System or LORROS is a sensor system developed by Elbit Systems to provide long-range daytime and night-time surveillance.
 The unit consists of Forward looking infrared (FLIR) and Charge-coupled device (CCD) image sensors.
 Optional components include eyesafe laser rangefinder, built-in compass and inclinometer, which provide UTM location mapping.
 The unit can be operated remotely with a control unit for up to 100 meters, which can be extended to several kilometers using fiber link.
On February 1, 2003, the Space Shuttle "Columbia" disintegrated upon reentering Earth's atmosphere, killing all seven crew members.
The Ricoh GXR is a compact digital camera first announced by Ricoh Company, Ltd, Tokyo on November 10, 2009.
 Unlike conventional cameras which either have a fixed lens and sensor or interchangeable lens and a fixed sensor, the GXR takes interchangeable units, each housing a lens, sensor and image processing engine.
 This allows each unit to have these features optimised to one another and a specific task, whereas with conventional interchangeable lens cameras, each different lens must use the same sensor and engine.
 The sealed units also prevent dust from reaching the sensor, which can be a problem with other cameras where the sensor is exposed whilst a lens is being changed.
 A significant disadvantage of this system is the extra cost involved in having to buy a whole new sensor with every new lens.
The Joint Land Attack Cruise Missile Defense Elevated Netted Sensor System, or JLENS (colloquially, Spy Balloon), is a tethered aerial detection system designed to track boats, ground vehicles, cruise missiles, manned and unmanned aircraft (airborne early warning and control), and other threats .
 The system has four primary components: two tethered aerostats which utilize a helium/air mix, armored mooring stations, sophisticated radars, and a processing station designed to communicate with anti-missile and other ground and airborne systems.
 Each system is referred to as an "orbit", and two orbits have been built.
 The Army-led joint program is designed to complement fixed-wing surveillance aircraft, saving money on crew, fuel, maintenance and other costs, and give military commanders advance warning to make decisions and provide notifications.
 The program was suspended in October 2015.
Cisco Security Agent (CSA) was an endpoint intrusion prevention system made originally by Okena (formerly named StormWatch Agent), which was bought by Cisco Systems in 2003.
 The software is rule-based and examines system activity and network traffic, determining which behaviors are normal and which may indicate an attack.
 CSA was offered as a replacement for Cisco IDS Host Sensor, which was announced end-of-life on 21 February 2003.
 This end of life action was the result of Cisco's acquisition of Okena, Inc., and the Cisco Security Agent product line based on the Okena technology would replace the Cisco IDS Host Sensor product line from Entercept.
 As a result of this end-of-life action, Cisco offered a no-cost, one-for-one product replacement/migration program for all Cisco IDS Host Sensor customers to the new Cisco Security Agent product line.
 The intent of this program was to support existing IDS Host Sensor customers who choose to migrate to the new Cisco Security Agent product line.
 All Cisco IDS Host Sensor customers were eligible for this migration program, whether or not the customer had purchased a Cisco Software Application Support (SAS) service contract for their Cisco IDS Host Sensor products.
The AN/UQQ-2 Surveillance Towed Array Sensor System (SURTASS), colloquially referred to as the ship's "Tail", is a towed array sonar system of the United States Navy.
The Shuttle Remote Manipulator System (SRMS), also known as Canadarm (Canadarm 1), is a series of robotic arms that were used on the Space Shuttle orbiters to deploy, maneuver and capture payloads.
 After the Space Shuttle "Columbia" disaster, the Canadarm was always paired with the Orbiter Boom Sensor System (OBSS), which was used to inspect the exterior of the Shuttle for damage to the thermal protection system.