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) "Fanny" Lutwidge and was thereby required to give up his college position. He was appointed to a college living as Perpetual Curate of All Saints' Church, Daresbury. Ten of their eleven children, including Charles Lutwidge, were born here. The living was not a wealthy one and Dodgson ran a school in the village to supplement his income. In 1836 he was additionally appointed Examining Chaplain to Charles Longley, the newly created Bishop of Ripon. During this period he and his wife educated all their children at home. The headmaster of Warrington School, Thomas Vere Bayne, who had studied at Jesus