Quaternions are a number system that has become increasingly useful for representing the rotations of objects in three-dimensional space and has important appli

This open access textbook presents a comprehensive treatment of the arithmetic theory of quaternion algebras and orders, a subject with applications in diverse

Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the nineteenth century--a feat he celebrated by carving the founding equatio

Quaternions are a number system that has become increasingly useful for representing the rotations of objects in three-dimensional space and has important appli

This self-contained text presents a consistent description of the geometric and quaternionic treatment of rotation operators, employing methods that lead to a r