From the biography of Tsu Chhung-Chih,


the great mathematician, who constructed a South-Pointing Chariot in +478:

When emperor Wu of the (Liu) Sung subdued Kuan-chung he obtained the south-pointing carriage of Yao Hsing, 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, Kao Ti commissioned Tsu Chhung-Chih 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 Chün's time such a thing had not been.

Source: Needham. Joseph: Science and Civilization in China, Volume 4, Part II, 1965