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In a modern internal combustion engine, most of the fuel energy is dissipated as heat, mainly in the form of hot exhaust gas. A high temperature is required to allow conversion of the engine-out emissions in the catalytic system, but the temperature is usually still high downstream of the exhaust gas aftertreatment system. One way to recover some of this residual heat is to implement a Rankine cycle, which is connected to the exhaust system via a heat exchanger. The relatively low weight increase due to the additional components does not cause a significant fuel penalty, particularly for heavy-duty vehicles. The efficiency of a waste-heat recovery system such as a Rankine cycle depends on the efficiencies of the individual components and the choice of a suitable working fluid for the given boundary conditions.