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Ever heard of Deep Space 1? that's a retired ion drive satelite. It's the 2nd of it's kind and is now has been manualy shut down in space. It also took photos of a comet, and then an asteroid.
A plasma drive prototype already exist, i think it belongs to JPL, not sure, but it is working on the ground quite well... it's only a matter of time before they build one in a space craft. A plasma drive works almost the same as an ion drive, but it uses heat to propel the ionized propelant.
do a search on google.com for Deep Space 1.
David