text: Activity associated with warranty obligations was as follows: 
  
  impairment exists. The estimates of future cash flows involve consider- 
  **2003** 2002  *(In thousands)*
  able management judgment and are based upon assumptions about 
  
  Balance at the beginning of the period 
  Accruals for warranties issued during the period 
  Accrual related to pre-existing warranties 
  Settlements made during the period  **$ 8,405**
  **7,907**
  **629**
  **(8,015)** $ 5,632 
   6,542 
   2,686 
   (6,455) 
  
  expected future operating performance. The actual cash flows could dif- 
  
  fer from management’s estimates due to changes in business conditions, 
  
  Balance at the end of the period  **$ 8,926** $ 8,405 
  operating performance, and economic conditions. Asset impairment 
  
  charges connected with the Company’s restructuring activities are dis- 
  ***R E V E N U E R E C O G N I T I O N***
  cussed in the Restructuring Related Charges note. These assets included 
  Revenue is normally recognized upon shipment of goods to customers. 
  real estate, manufacturing equipment, and certain other fixed assets. 
  In certain circumstances revenue is not recognized until the goods are 