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A brief physical description of ZrO2 and TiO2 exhaust gas oxygen sensors is presented, followed by a comparison of the two sensors operating under actual open-loop and closed-loop conditions on an engine/dynamometer setup. The sensitivity of the ZrO2 sensor to engine load and cylinder-to-cylinder maldistribution is explored, and the compatibility of the ZrO2 switch point and a three-way catalyst window is considered.