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 (bishop) Cumberland and becoming Rector of Kirby Wiske in 1755. He was tutor to Lord Algernon Percy, the son of the Duke of Northumberland; in 1762, the Duke gave him the parish of Elsdon, Northumberland. Dodgson was elected as a fellow of the Royal Society in 1762. Rapidly promoted, he was nominated to the bishopric of Ossory on 22 June and consecrated at St. Werburgh's Church, Dublin on 11 August 1765 by William Carmichael, Archbishop of Dublin. Ten years later, he was translated to the bishopric of Elphin by letters patent on 12 April 1775. King George III congratulated him on