NOTE 11 :- COMMITMENTS AND CONTINGENT LIABILITIES a. Royalty commitments to the Office of the Chief Scientist of the Israeli Ministry of Industry and Trade ("OCS"): Under the research and development agreements between the Company and the OCS and the Company's Israeli subsidiary and the OCS and pursuant to applicable laws, the Company and its Israeli subsidiary are required to pay royalties at the rate of 3.5 % of revenues derived from sales of products developed with funds provided by the OCS and ancillary services, up to an amount equal to 100 % of the OCS research and development grants received, linked to the U.S. dollars plus interest on the unpaid amount received based on the 12-month LIBOR rate applicable to U.S. dollar deposits. The obligation to pay these royalties is contingent on actual sales of the products and in the absence of such sales no payment is required. During 2013 and 2014 the Company's Israeli subsidiary received grants amounted to $ 32 and $ 118 , respectively, from the OCS. Royalties paid to the OCS amounted to $ 123 , $ 83 and $ 42 for the years ended December 31, 2013, 2014 and 2015, respectively. As of December 31, 2015, the Company and its Israeli subsidiary had remaining contingent obligations to pay royalties in the amount of approximately $ 1,916 . b. Royalty commitments to a third party: During 2002, the Company entered into a development agreement for planning, developing and manufacturing a security system with a third party. Under the agreement, the Company agreed to pay the third party royalty fees based on a defined formula. As of December 31, 2015, royalty commitments under the agreement amounted to $ 55 . c. Lease commitments: The Company rents certain of its facilities and some of its motor vehicles under various operating lease agreements, which expire on various dates, the latest of which is in 2029. Future minimum lease payments under non-cancelable operating lease agreements are as follows: 2016 $ 659 2017 414 2018 323 2019 235 2020 241 2021 and there after 1,255 $ 3,