North Korea fired at least one ballistic missile into the East Sea on Wednesday, South Korea’s Joint Chiefs of Staff said. The launch came two days after South Korea and the United States announced plans to conduct their annual Ulchi Freedom Shield exercise from Aug. 17-27. North Korea has long denounced major South Korea-US military exercises as rehearsals for invasion and has often responded with missile launches and other military activities. Wednesday’s launch also came six days after North Korea fired short-range ballistic missiles into the East Sea from the Wonsan area on Aug. 6. The latest launch marked North Korea’s 11th ballistic missile launch event this year.