With the end of Mongol dominance, incursions by "wa-ko" (coastal raiding forces of mixed nationalities) inspired the Korean administration to rebuild the Korean military; however, its efforts were undercut by a neo-Confucianism which deprecated militarism in favor of leadership by scholars and bureaucrats. Korea was unprepared for the 1591 invasion by Japanese armies intent on using Korea as a springboard to conquer China. Known as the "Imjin Waerum", the Japanese advance overran the Korean army and was stopped only by the Ming army and Koreans who formed "righteous armies" ("uibyeong", 위병). In September 1593, King Seonjo of Joseon (1567-1608) established the "Hunlyun Dokam" (Royal Military Training Agency). With the encouragement of Ming general Liu T’ing, Korean prime minister Yu Song-Nyong tried to reorganize the Korean army into a structured, versatile organization. His reference for this effort was "Jin Xiao Shin Shu" ("Manual of New Military Tactics"), written by Qi Jiguang (1528-1588) and published in 1567. Chapter 14 of the manual described 32 methods of hand-to-hand combat; although Qi wrote that they were of little use on the battlefield, they improved his soldiers' confidence and conditioning. These 32 methods, gleaned from an examination of 16 major fighting systems in Ming China, were recorded in 32 short poems.