The Hongwu Emperor sent his heir apparent to Shaanxi in 1391 to "tour and soothe" ("xunfu") the region; in 1421 the Yongle Emperor commissioned 26 officials to travel the empire and uphold similar investigatory and patrimonial duties. By 1430 these "xunfu" assignments became institutionalized as "grand coordinators". Hence, the Censorate was reinstalled and first staffed with investigating censors, later with censors-in-chief. By 1453, the grand coordinators were granted the title vice censor-in-chief or assistant censor-in-chief and were allowed direct access to the emperor. As in prior dynasties, the provincial administrations were monitored by a travelling inspector from the Censorate. Censors had the power to impeach officials on an irregular basis, unlike the senior officials who were to do so only in triennial evaluations of junior officials.