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In this paper, we present a continuum model to compute the energy of low angle grain boundaries for any given degrees of freedom (arbitrary rotation axis, rotation angle and boundary plane orientation) based on a continuum dislocation structure. In our continuum model, we minimize the grain boundary energy associated with the dislocation structure subject to the constraint of Frank's formula for dislocations with all possible Burgers vectors. This constrained minimization problem is solved by the penalty method by which it is turned into an unconstrained minimization problem. The grain boundary dislocation structure is approximated by a network of straight dislocations that predicts the energy and dislocation densities of the grain boundaries. The grain boundary energy based on the calculated dislocation structure is able to incorporate its anisotropic nature. We use our continuum model to systematically study the …