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
Lewis Carroll his two sons were hardly more than babies. The older of these sons – yet another Charles Dodgson – was Carroll's father. He went to Westminster School and then to Christ Church, Oxford. He reverted to the other family tradition and took holy orders. He was mathematically gifted and won a double first degree, which could have been the prelude to a brilliant academic career. Instead, he married his first cousin Frances Jane Lutwidge in 1830 and became a country parson. Dodgson was born in the small parsonage at Daresbury in Cheshire near the towns of Warrington and Runcorn, the