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Selective catalytic reduction (SCR) technology is being considered as the potential strategy for significant reduction of NOx emissions from diesel engines. Many challenges exist in the development of an On-Road SCR retrofit system in terms of system integration and optimization of control strategy in order to achieve highest NOx reduction given the diversity of duty cycles. The main considered challenges are: - The development of a generic control strategy that would work for a broad range of engines, - Development of a reliable and durable injection system that would be able to withstand the harsh environments on a heavy-duty vehicle, - Packaging of the system to be able to fit on a number of vehicles with different configurations, - Controlling ammonia slip and assurance of reducing agent (Urea) availability and quality. In this study a prototype SCR system was evaluated over engine and chassis dynamometer test cycles.