William Rowan Hamilton is more numerically stable than combining many matrix transformations. In control and modelling applications, quaternions do not have a computational singularity (undefined division by zero) that can occur for quarter-turn rotations (90 degrees) that are achievable by many Air, Sea and Space vehicles. In pure mathematics, quaternions show up significantly as one of the four finite-dimensional normed division algebras over the real numbers, with applications throughout algebra and geometry. It is believed by some modern mathematicians that Hamilton's work on quaternions was satirized by Charles Lutwidge Dodgson in Alice in Wonderland. In particular, the Mad Hatter's tea party was meant
Charles Dodgson (priest) College, Oxford, and who was a friend of Dodgson, used to walk over to visit Daresbury on Sundays, sometimes helping with the church services. Bayne would bring his son Vere, who became a lifelong friend of the young Charles Lutwidge. Other friends and visitors included Richard Durnford, Rector of Middleton, Lancashire; Francis Egerton, Member of Parliament for South Lancashire and John Wilson Patten, MP for North Lancashire. Dodgson was concerned about the canal workers on the Bridgewater Canal running past his parish. Together with Egerton, who was a wealthy local landowner, he converted a barge into a floating chapel, moored