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An experimental study is carried out to compare the effects of high-pressure-loop, low-pressure-loop and dual-loop exhaust gas recirculation systems (HPL-EGR, LPL-EGR and DL-EGR) on the combustion characteristics, thermal efficiency and emissions of a diesel engine. The tests are conducted on a six-cylinder turbocharged heavy-duty diesel engine under various operating conditions. The low-pressure-loop portion (LPL-Portion) of DL-EGR is swept from 0% to 100% at several constant EGR rates, and the DL-EGR is optimized based on fuel efficiency. The results show that the LPL-EGR can attain the highest gross indicated thermal efficiency (ITEg) in the three EGR systems under all the tested conditions. At a middle load of 0.95 BMEP, 1660 r/min, the pumping losses of LPL-EGR lead to the lowest BTE among the EGR systems. The HPL-EGR can achieve the best brake thermal efficiency (BTE) and emissions within the EGR rate of 22.5% mainly due to the reduced pumping losses.