North Korea has repeatedly issued warnings against the combined military exercise between South Korea and the USA, threatening that it would seek "a new way" rather than engagement if Seoul goes ahead with such a rehearsal for invasion.
North Korea resumed testing short-range ballistic missiles after the breakdown of the Hanoi summit between Trump and Kim Jong Un at the end of February.
"If Japan chooses the path of dialogue and cooperation, we will gladly join hands", Moon said in a speech to mark the anniversary of Korea's liberation from Japan's 1910-45 rule. Moon has played down the North's recent tests, even suggesting potential inter-Korean economic projects as a way to tackle the South's ongoing trade row with Japan, prompting critics to accuse him of having a "peace fantasy".
Experts say the North's recent launches are aimed at building leverage for nuclear talks with the United States, and pressuring Seoul to coax major concessions from Washington on its behalf.
Friday's launches were North Korea's sixth round of tests since late July, when it stepped up its weapons demonstrations while expressing frustration over stalemated nuclear negotiations with the United States as well as the U.S.
The South Korean Joint Chiefs of Staff [JCS] said the North conducted the launch early on Friday from a site near the city of Tongchon.
After an emergency meeting of South Korea's National Security Council held to discuss the launches, officials reiterated that the joint drills are simply an opportunity to evaluate whether South Korea could eventually assume wartime control of the allied forces on the peninsula.
Kelly said Trump wants a deal he can sell to Fox News and his voters as a foreign policy triumph, even if it damages US alliances in Asia, but he is surrounded by people such as Secretary of State Mike Pompeo and national security adviser John Bolton who take harder-line positions.
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AP reporter Mary Clare Jalonick and congressional correspondent Lisa Mascaro contributed. A House Judiciary spokeswoman did not immediately respond to a request for comment.
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North Korea test-fires a new weapon, seen in a picture released by North Korea's Korean Central News Agency this month.
The missiles appeared to be similar to the short-range missiles fired in the previous week, a U.S. official told Reuters.
The North's statement blamed the South for the deadlock of the "historic Panmunjom declaration", adding: 'We have nothing to talk any more with the south Korean authorities nor have any idea to sit with them again'. But it doesn't look like President Moon will be hosting Kim Jong-un in Seoul any time soon. -South Korea drills were a sign of Seoul's hostility against the North.
"In spite of a series of worrying actions taken by North Korea recently, the momentum for dialogue remains unshaken", Moon said.
The North's spokesman described Moon as an "impudent guy" who is "overcome with fright".
Moon claimed credit for opening up a dialogue with the North after years of tension under his conservative predecessors. The spokesman left open the possibility of talks with the United States, speaking of upcoming dialogue between the two countries but warned it will have no place for the South.
So far, North Korea has stuck by its unilateral suspension of nuclear and long-range missile tests, which came during its diplomatic outreach to Washington a year ago.
Trump and Kim have met twice since their first summit in Singapore a year ago and said their countries will continue talks, but little progress has been made on the North's stated commitment to denuclearise.