 Complete the following phrase:  The town of Milford was founded in 1793, after Sir William Hamilton obtained an Act of Parliament in 1790 to establish the port at Milford, and takes its name from the natural harbour of Milford Haven, which was used for several hundred years as a staging point on sea journeys to Ireland and as a shelter by Vikings. It was known as a safe port and is mentioned in Shakespeares Cymbeline as blessed Milford. It was used as the base for several military operations, such as Richard de Clares invasion of Leinster in 1167, Henry IIs Invasion of Ireland in 1171, Johns continued subjugation of the Irish in 1185 and 1210 and Oliver Cromwells 1649 