Commissioned by King Jeongjo (r. 1740–1810) in 1790, the Muyedobotongji (or Muye Tobo Tong Ji, translating to `Comprehensive Illustrated Manual of Martial Arts`) expanded on the eighteen weapons systems identified in the Muyeshinbo of 1758. ... Found on http://en.wikipedia.org/wiki/Muyedobotongji