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Selective catalytic reduction (SCR) has become one of the primary technologies to reduce internal combustion engine (ICE) emission. The installation angle of urea injector plays an important role during the SCR process. The urea injector is often vertically mounted to the exhaust pipe for on road heavy duty truck because of its good performance and general packaging convenience, and this type of installation has been the focus of previous research. However, due to certain packaging constraints or responsiveness considerations, the injector is installed with an inclined acute angle to the exhaust pipe under some circumstance.