Introduced 160 years ago as an attempt to generalize complex numbers to higher dimensions, quaternions are now recognized as one of the most important concepts

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

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

Visualizing More Quaternions, Volume Two updates on proteomics-related material that will be useful for biochemists and biophysicists, including material relate

This textbook offers an invitation to modern algebra through number systems of increasing complexity, beginning with the natural numbers and culminating with Ha