Japanese invasions of Korea of 1592–1598 after Toyotomi Hideyoshi had unified Japan. Early success in the first incursion during May 1592 into Korea was attributed to the varied small arms and tactics of the Japanese forces, allowing them to make and defend early footholds into the Korean peninsula. However, after the Koreans had allied themselves with Ming China, they gained access to better artillery with greater range and destructive power than their Japanese equivalents. Finally, the Korean navy under the command of Yi Sun-sin had utilized the superior, cannon-armed navy of the Korean-Ming alliance against the Japanese maritime supply lines, eventually leading to a shortage of supplies and Japanese losses on the mainland. Japan was driven off their last stronghold in Seoul in May 1594, and subsequent ventures 1597 would not come close to the success of the first, as the Korean-Ming alliance had developed countermeasures and equivalent small arms to Japanese equivalents. The Japanese version of the fire arrow (rocket arrow) was known as the bo hiya. The Japanese pirates (wokou, also known as wako or kaizoku) in the 16th century were reported to have used the bo hiya which had the appearance of a large arrow. A burning element made from incendiary waterproof rope was wrapped around the shaft and when lit the bo hiya was launched from a mortar like weapon hiya taihou or a wide bore Tanegashima matchlock arquebus. During one sea battle it was said the bo hiya were "falling like rain". Kingdom of Mysore The first iron rockets were developed by Tipu Sultan, a Muslim ruler of the South Indian Kingdom of Mysore. He successfully used these iron rockets against the larger forces of the British East India Company during the Anglo-Mysore Wars. The Mysore rockets of this period were much more advanced than what the British had seen, chiefly because of the use of iron tubes for holding the propellant; this enabled higher thrust and longer range for the missile (up to 2 km range). After Tipu's eventual defeat in the Fourth Anglo-Mysore War and the capture of the Mysore iron rockets, they were influential in British rocket development and were soon put into use in the Napoleonic Wars. Mughal Empire Babur, the founder of the Mughal Empire on the Indian subcontinent, employed firearms, gun carts and movable artillery in battle. In particular, he used them at the first Battle of Panipat (1526)