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An endoscope-based image acquisition-and-processing camera system was used for diagnostics of pilot injection combustion in a single-cylinder heavy duty diesel engine. A study of the pilot injection or light load is of interest because the spray breakup, mixing and vaporization processes are less influenced by heat feedback from the flame than in full injection cases. This allows the spray process to be decoupled from the combustion process. The experimental cases were modeled using a version of the KIVA-II code that includes improvements in the turbulence, wall heat transfer, spray, ignition and combustion models. Pilot injections of three different amounts (10, 15 and 20% of the fuel injected at 75% load and 1600 RPM) at different start-of-injection timings were studied. The imaging system included an endoscope, an intensified CID camera, a frame grabber and the control circuitry.