Class 22 Euler Angles

Reading
Chapter 3 in Engler and Randle
REFERENCE: Chs. 2-4 in Kocks, Tome and Wenk; Ch. 8 in Verlinden,
Driver, Samajdar, and Doherty

3/25/2011
Prof. M.L. Weaver

57

How to Measure Texture

X-ray diffraction; pole figures; measures average
texture at a surface (ms penetration); projection (2 angles).
Neutron diffraction; type of data depends on neutron
source; measures average texture in bulk (cms
penetration
t ti in
i mostt materials)
t i l ) ; projection
j ti (2 angles)
l ).
Electron [back scatter] diffraction; easiest [to
automate] in scanning electron microscopy (SEM);
local surface texture (nms penetration in most materials);
complete orientation (3 angles).
Optical microscopy: optical activity (plane of
polarization); limited information (one angle).

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58

Texture: Quantitative Description

Three (3) parameters needed to describe
the orientation [[of a crystal
y
relative to the
embedding body or its environment].
Most common: 3 [rotation] Euler angles.
angles
Most experimental methods [X-ray pole
figures included] do not measure all 3 angles
angles,
so orientation distribution must be calculated.
Best representation: quaternions.

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59

RECALL: Euler Angles, Animated

1. Rotation 1: rotate ((counterclockwise)) about the crystal
y
z-axis through
g 1.
2. Rotation 2: rotate (counterclockwise) about the rotated crystal x-axis through
3. Rotation 3: rotate (counterclockwise) about the crystal z-axis through 2.

e3= e3=Zsample=ND

[001]
zcrystal
y =e3
= e3

Crystal

[010]
ycrystal=e2
e2
e2

RD

TD
Sample Axes
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3rdd position (final)

2nd position
1st position

e2=Ysample=TD
xcrystall=ee1

[100]

e1 =e1
e1=Xsample=RD
60

Euler Angles (Bunge)

g {1 , , 2 }

0 1 2 , 0 , 0 2 2
g

s c
ij

g2 g g1
cos 2
sin 2

gijs c

sin 2
cos 2
0

0 1
0
0 cos 1 sin 1 0
0 0 cos sin sin 1 cos 1 0

1 0 sin cos 0
0
1

cos 1 cos 2 sin 1 cos sin 2

cos 1 sin 2 sin 1 cos cos 2

sin 1 sin

sin 1 cos 2 cos 1 cos sin 2

sin 1 sin 2 cos 1 cos cos 2
cos 1 sin
Passive

3 independent parameters to describe g

sin sin 2
sin cos 2

cos

Euler Space
Properties

Cyclic:
0 < 1 < 2
0<<
0 < 2 < 2

g(1,,2)
2

Non-bijective
Non
Non-Euclidean
Euclidean
dg sin d1d d 2

The angles
Th
l 1, ,
andd 2 describe
d
ib the
h final
fi l orientation
i
i off the
h crystall
coordinate system with respect to the sample coordinate system
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62

Orientation Distribution Function

Th
The ODF ddescribes
ib th
the complete
l t texture
t t
information
i f
ti
of a sample.
If orientation of a grain can be expressed by g, the
ODF can be expressed as:
dV
f ( g )dg
V

where f is the volume fraction of grains in all

intervals g dg.
dg
Without texture,, ODF = constant. With texture,, ODF
has maxima and minima.
Prof. M.L. Weaver

The Orientation Distribution Function

(ODF)
1

dV
f ( g )dg
V

dV/V is the volume

ol me fraction of the orientation in an
infinitesimal environment of g (gdg)
3/25/2011
Prof. M.L. Weaver

Meaning of an OD
Each point in the OD represents a specific orientation
or texture component
component.
S
Some ((most!)
t!) properties
ti depend
d
d on the
th complete
l t
orientation, therefore we must have the OD to predict
properties.
properties
Can use the OD information to determine
presence/absence of components, volume fractions,
ppredict pproperties
p
of ppolycrystals.
y y
3/25/2011
Prof. M.L. Weaver

65

Ranges off Euler

R
E l space
for different crystal
symmetries
Engler & Randle
3/25/2011

Ranges of Euler space

for different crystal
symmetries
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Verlinden et al.

Euler space
Each crystal orientation
can be represented in
Euler space.
Each
E h crystal
t l family
f il will
ill
be found at several
locations.
locations
These are variants.

Verlinden et al.
3/25/2011

Verlinden et al.
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Orientation Variants

Verlinden et al.

Variants have their own

sets of Euler angles
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Orientation Distribution Function

Verlinden et al.
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71

Euler space
ODFs are generally
represented in 2D
sections of Euler
space as illustrated
illustrated.

Verlinden et al.

Other Euler Angle Definitions

A confusing aspect of texture analysis is that there
are multiple definitions of the Euler angles
angles.
Definitions according to Bunge,
Bunge Roe and Kocks
are also in common use.
Components have different values of Euler angles
depending upon which definition is used.
The Bunge definition is most common.

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Euler Angle Definitions

Kocks et al.

Bunge and
B
d Canova
C
are inverse
i
to one another
h
Kocks and Roe differ by sign of third angle
B
Bunge
rotates about
b
x,
Kocks
K k about
b
y (2nd angle)
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Matrix with Kocks Angles

[[uvw]]

a(,,) =

sin sin
cos cos cos

sin cos

cos sin cos

cos sin

cos sin
sin cos cos
cos cos
sin sin cos
sin sin

((hkl))

cos sin

sin sin

cos

N t obtain
Note:
bt i transpose
t
by
b exchanging
h i andd .

Matrix with Roe angles

a(,,) =
[uvw]
sin sin
cos cos cos

sin cos

cos sin cos

cos sin

(hkl)
cos sin

cos sin

sin cos cos

cos cos
sin sin

sin sin cos

sin sin
cos

Conversions
C
Convention
i

1st
1

2nd
2 d

3rd
3 d

2nd angle
about axis

Kocks

y
y

(symmetric)

Bunge
u ge
Matthies
Roe

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Complete orientations in the Pole Figure

1
Note the loss
of information
in a diffraction
experiment if
each set of
poles from a
g
single
component
cannot be
related to one
another.

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(1,,2) ~
(30,70,40).

2
Kocks, Tome, Wenk

78

Pole Figures

Verlinden et al.
3/25/2011

Complete
orientations
i t ti
in
i th
the
Inverse Pole Figure
Think of yourself as an
observer standing
g on
the crystal axes, and
measuring where the
sample axes lie in
relation to the crystal
axes.

Kocks, Tome, Wenk

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80

Inverse Pole Figures

Verlinden et al.

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Inverse Pole Figures

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Summary
Conversion between different forms of
d
description
i i off texture components described.
d
ib d
Physical picture of the meaning of Euler
angles as rotations of a crystal given.
Miller indices are descriptive, but matrices are
useful for computation, and Euler angles are
useful for mapping out textures (to be
discussed).

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