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The atomic structure of  tilt grain boundaries of Σ25 (210), Σ5 (310), Σ213 (320) and Σ217 (410) in TiO2 (rutile) were studied using high resolution electron microscopy and computer simulation. Regularly separated small steps (1/2  high) and big steps (3/2  high) which contain secondary dislocations were found in the (210) boundary as a result of deviation from the exact Σ5 misorientation and (210) symmetric plane. Similar steps were also found in (310) and (320) boundaries. Flat segments between the steps were found to have very accurate misorientation of their, Σ's and a nearly symmetric boundary plane. Their rigid body translation, volume expansion and relaxed structures were determined by comparing HRTEM images with computer calculated structures and simulated images. An irregular core structure was found in the (410) boundary when its misorientation deviated 2° from the exact Σ17 misorientation.
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