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
Skeffington Lutwidge of the "Carcass"s cutter as the expedition progressed. By 1800 Lutwidge began to circulate a story that while the ship had been trapped in the ice, Nelson had seen and pursued a polar bear, before being ordered to return to the ship. Lutwidge's later version, in 1809, reported that Nelson and a companion had given chase to the bear, but on being questioned why, replied that "I wished, Sir, to get the skin for my father." Nelson referred to Lutwidge as 'that good old man'. Lutwidge was appointed to command the 28-gun sixth rate in August 1775, and sailed to