Oxygen vacancies have been identified to play an important role in accelerating grain growth in polycrystalline perovskite-oxide ceramics. In order to advance the fundamental understanding of growth mechanisms at the atomic scale, classical atomistic simulations were carried out to investigate the atomistic structures and oxygen vacancy formation energies at grain boundaries in the prototypical perovskite-oxide material SrTiO$_3$. In this work, we focus on two symmetric tilt grain boundaries, namely $Sigma$5(310)[001] and $Sigma$5(210)[001]. A one-dimensional continuum model is adapted to determine the electrostatic potential induced by charged lattice planes in atomistic structure models containing grain boundaries and point defects. By means of this model, electrostatic artifacts, which are inherent to supercell models with periodic or open boundary conditions, can be taken into account and corrected properly. We report calculated formation energies of oxygen vacancies on all the oxygen sites across boundaries between two misoriented grains, and we analyze and discuss the formation-energy values with respect to local charge densities at the vacant sites.
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