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With increasing demands to reduce fuel consumption and CO2 emissions, it is necessary to recover waste heat from modern Heavy Duty (HD) truck engines. Organic Rankine Cycle (ORC) has been acknowledged as one of the most effective systems for Waste Heat Recovery (WHR) due to its simplicity, reliability and improved overall efficiency. The expander and working fluid used in ORC WHR greatly impact the overall performance of an integrated engine and WHR system. This paper presents the effects of volumetric expanders on the ORC WHR system of a long haulage HD truck engine at a steady-state engine operating point chosen from a real-time road data. Performance of a long haulage HD truck engine is analyzed, based on the choice of three volumetric expanders for its WHR system, using their actual performance values. The expanders are: an oil-free open-drive scroll, a hermetic scroll and an axial piston expander with working fluids R123, R245fa and ethanol, respectively.