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This study focused on a lean-burn regime using a pre-chamber for improving the efficiency of internal combustion engines. Combustion images were visualized using a two-stroke, single-cylinder, optically accessible engine fitted with a cylindrical pre-chamber. The L/D ratio of the pre-chamber length (L) to its diameter (D) and the diameter of the pre-chamber orifice were varied as parameters. Combustion characteristics were analyzed based on the visualized jet flow configuration and combustion chamber pressure measurements. The results revealed that the combustion duration tended to be longer with a smaller L/D ratio and that the coefficient of variation (COV) of the indicated mean effective pressure (IMEP) was smaller and more stable. With a smaller orifice diameter, the jet velocity was faster, and the flame development duration was shorter, but the combustion duration was longer; IMEP tended to be lower, but the COV of IMEP was smaller.