building large merchant ships. In world maritime history, declares Richard Woodman, they are recognized as "the first true seafarers, founding the art of pilotage, cabotage, and navigation" and the architects of "the first true ship, built of planks, capable of carrying a deadweight cargo and being sailed and steered." 14th through the 18th centuries Asian developments At this time, ships were developing in Asia in much the same way as Europe. Japan used defensive naval techniques in the Mongol invasions of Japan in 1281. It is likely that the Mongols of the time took advantage of both European and Asian shipbuilding techniques. During the 15th century, China's Ming dynasty assembled one of the largest and most powerful naval fleets in the world for the diplomatic and power projection voyages of Zheng He. Elsewhere in Japan in the 15th century, one of the world's first iron-clads, "Tekkōsen" (鉄甲船), literally meaning "iron ships", was also developed. In Japan, during the Sengoku era from the 15th century to 17th century, the great struggle for feudal supremacy was fought, in part, by coastal fleets of several hundred boats, including the atakebune. In Korea, in the early 15th century during the Joseon era, "Geobukseon"(거북선), was developed. The empire of Majapahit used large ships called jong, built in northern Java, for transporting troops overseas. The jongs were transport ships which could carry 100–2000 tons of cargo and 50–1000 people, 28.99–88.56 meter in length. The exact number of jong fielded by Majapahit is unknown, but the largest number of jong deployed in an expedition is about 400 jongs, when Majapahit attacked Pasai, in 1350. European developments Several civilizations became sea powers. Such examples include the maritime republics of Genoa and Venice, Hanseatic League, and the Byzantine navy. The Vikings used their knarrs to explore North America, trade in the Baltic Sea and plunder many of the coastal regions of Western Europe. Towards the end of the 14th century, ships like the carrack began to develop towers on the bow and stern. These towers decreased the vessel's stability, and in the 15th century, the caravel, designed by the Portuguese, based on the Arabic qarib which could sail closer to the wind, became more widely used. The towers were gradually replaced by the forecastle and sterncastle, as in the carrack Santa María of Christopher Columbus. This increased freeboard allowed another innovation: the freeing port, and the artillery associated with