Zu Chongzhi
When Emperor Wu of Liu Song subdued Guanzhong he obtained the south-pointing carriage of Yao Xing, but it was only the shell with no machinery inside. Whenever it moved it had to have a man inside to turn (the figure). In the Sheng-Ming reign period, Gao Di commissioned Zi Zu Chongzhi to reconstruct it according to the ancient rules. He accordingly made new machinery of bronze, which would turn round about without a hitch and indicate the direction with uniformity. Since Ma Jun's time such a thing had not been.