Joseon missions to Japan  Joseon missions to Japan represent a crucial aspect of the international relations of mutual Joseon-Japanese contacts and communication. In sum, these serial diplomatic ventures illustrate the persistence of Joseon's "kyorin" (neighborly relations) diplomacy from 1392 to 1910. The chronology of one side in a bilateral relationship stands on its own. This long-term, strategic policy contrasts with the "sadae" (serving the great) diplomacy which characterized the Joseon-Chinese relations in this same period. The unique nature of these bilateral diplomatic exchanges evolved from a conceptual framework developed by the Chinese. Gradually, the theoretical model would be modified. The changing model mirrors the evolution of a unique relationship between two neighboring states. In the 20th century, Joseon's neighborly relations diplomacy failed. General Yi Seong-gye (posthumously known as Taejo of Joseon) established the "Kingdom of Great Joseon" in 1392–1393, and he founded the Yi dynasty which would retain power on the Korean peninsula for five hundred years. An early achievement of the new monarch was improved relations with China; and indeed, Joseon had its origin in General Yi's refusal to attack China in response to raids from Chinese bandits. The Joseon foreign policy would evolve from pre-existing foundations. For example, Goryeo envoy Jeong Mongju travelled to Japan in 1377; and the consequences of his efforts were only seen later. As an initial step, a diplomatic mission was dispatched to Japan in 1402. The Joseon envoy sought to bring about the re-establishment of amicable relations between the two countries and he was charged to commemorate the good relations which existed in ancient times. This mission was successful, and "shōgun" Ashikaga Yoshimitsu was reported to have been favorably impressed by this initial embassy. Subsequent missions developed and nurtured the contacts and exchanges between the two neighboring countries. Not less than 70 diplomatic missions were dispatched from the Joseon capital to Japan before the beginning of Japan's Edo period. A diplomatic mission conventionally consisted of three envoys—the main envoy, the vice-envoy, and a document official. Also included were one or more official writers or recorders who created a detailed account of the mission. Artists were also included in the diplomatic delegation. Reciprocal missions were construed as a means of communication between Korean kings and Japanese "shōguns" of almost equal ranking. The emperors of Japan at the time were figureheads with no actual political or military power and the actual political and military rulers of Japan that Joseon communicated with were the shoguns who were represented as "tycoon of Japan" in many foreign communications in order to avoid the conflict with the Sinocentric world order in which the emperor of China was the highest authority, and all rulers of tributary states were known as "kings".