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With the advent of advanced diesel after-treatment technologies, sophisticated sensors are becoming a critical cost challenge to OEMs. This paper describes an approach for replacing the engine out NOx sensor with an artificial neural network (ANN) based virtual sensor. The technique centers around inferring NOx concentration from readily available engine operating parameters, eliminating the need for physical sensing and the cost associated with it. A multi-layer perceptron network was trained to estimate NOx concentration from engine speed, load, exhaust gas recirculation, and air-fuel ratio information. This supervised learning was conducted with measured engine data. The network was validated against measured data that was excluded from the training data set. The paper details application of this technique to both a heavy duty and light duty diesel engine. Results show good agreement between predictions and measured data under the steady state conditions studied.