Complex sentence: Since 2004, Japan, China, India, the United States, and the European Space Agency have each sent lunar orbiters, which have contributed to confirming the discovery of lunar water ice in permanently shadowed craters at the poles and bound into the lunar regolith.
Split into simpler sentences: Since 2004, Japan, China, India, the United States, and the European Space Agency have each sent lunar orbiters. These spacecraft have contributed to confirming the discovery of lunar water ice in permanently shadowed craters at the poles and bound into the lunar regolith.