송서
The south-pointing chariot device was first invented by the Chinese mechanical engineer Ma Jun (c. 200–265 AD). It was a wheeled vehicle that incorporated an early use of differential gears to operate a fixed figurine that would constantly point south, hence enabling one to accurately measure their directional bearings. This effect was achieved not by magnetics (like in a compass), but through intricate mechanics, the same design that allows equal amounts of torque applied to wheels rotating at different speeds for the modern automobile. After the Three Kingdoms period, the device fell out of use temporarily. However, it was Zu Chongzhi who successfully re-invented it in 478, as described in the texts of the "Book of Song" and the "Book of Qi", with a passage from the latter below: