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Prototype selective catalytic reduction (SCR) systems using urea have been demonstrated on diesel trucks in Europe in recent years. In view of upcoming stringent emissions control standards for US HD diesel engines, urea-SCR is being evaluated by US engine and truck manufacturers. The authors and their companies have worked jointly on a project to develop, test, and demonstrate urea-SCR on a US HD diesel engine and Class-8 truck. A prototype urea-SCR system was applied to a 12-liter HD diesel engine. The engine model selected is rated at 350 bhp and is common for highway trucks. The only engine modifications were changes to the injection timing control map in order to better suit the application of the urea-SCR system. This paper details two demonstration phases of the project as follows. The first phase includes recent emissions cell tests using a new compact SCR catalyst and an engine calibration optimized for lower NOX.