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To meet the 2010 diesel engine emission regulations, an aftertreatment system was developed to reduce HC, CO, NOx and soot. In NOx reduction, a baseline SCR module was designed to include urea injector, mixing decomposition tube and SCR catalysts. However, it was found that the baseline decomposition tube had unacceptable urea mixing performance and severe deposit issues largely because of poor hardware design. The purpose of this article is to describe necessary development work to improve the baseline system to achieve desired mixing targets. To this end, an emissions Flow Lab and computational fluid dynamics were used as the main tools to evaluate urea mixing solutions. Given the complicated urea spray transport and limited packaging space, intensive efforts were taken to develop pre-injector pipe geometry, post-injector cone geometry, single mixer design modifications, and dual mixer design options.