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Rightsizing Nanochannels in Reduced-Graphene Oxide Membranes by Solvating for Dye Desalination Liang Huang, Suting Huang, Surendar R. Venna, and Haiqing Lin Environ. Sci. Technol., Just Accepted Manuscript • DOI: 10.1021/acs.est.8b03661 • Publication Date (Web): 26 Sep 2018 Downloaded from http://pubs.acs.org on September 27, 2018
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Environmental Science & Technology
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Rightsizing Nanochannels in Reduced-Graphene
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Oxide Membranes by Solvating for Dye
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Desalination
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Liang Huang,† Suting Huang,† Surendar R. Venna,‡ and Haiqing Lin*, †
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† Department of Chemical and Biological Engineering, University at Buffalo, The State
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University of New York, Buffalo, NY 14260
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‡ National Energy Technology Laboratory/AECOM, 626 Cochrans Mill Rd., Pittsburgh, PA
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15236
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ABSTRACT
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Membranes with high water permeance, near-zero rejection to inorganic salts (such as NaCl
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and Na2SO4), and almost 100% rejection to organic dyes are of great interest for the dye
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desalination (the separation of dyes and salts) of textile wastewater. Herein, we prepared
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reduced graphene oxide membranes in a solvation state (S-rGO) with nanochannel sizes
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rightly between the salt ions and dye molecules. The S-rGO membrane rejects >99.0% of
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Direct Red 80 (DR 80) and has almost zero rejection for Na2SO4. By contrast, conventional
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GO or rGO membranes often have the channel sizes smaller than divalent ions (such as SO42-)
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and thus high rejection for Na2SO4. More interestingly, high salinity in typical dye solutions
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decreases the channel size in the S-rGO membranes, and thus increase the dye rejection, while
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the Na2SO4 rejection decreases because of the negatively charged surface on GO and the salt
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screening effect. The membranes also show pure water permeance as high as 80 L m−2 h−1
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bar−1, which is about eight times that of commercial NF 90 membrane and two times that of a
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commercial ultrafiltration membrane (with a molecular weight cutoff of 2000 Dalton),
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rendering their promise for practical dye desalination.
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1. INTRODUCTION
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Desalination of aqueous dye solutions is critical to the dye production, where the salts (e.g.,
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NaCl and Na2SO4) are byproducts, and to the dye recovery from textile wastewater after the
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dyeing processes because the salts are often added to enhance the dye uptake by textiles.1,2
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Nanofiltration (NF)1,3-9 and ultrafiltration (UF)10,11 membranes with pores smaller than dye
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molecules have attracted significant interests for dye desalination because of their high
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energy-efficiency. However, conventional polyamide-based NF membranes have high
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rejection for divalent salts (like Na2SO4) and moderate rejection for monovalent salts (such as 2 ACS Paragon Plus Environment
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NaCl), resulting in low salt removal efficiency.6 More importantly, dye solutions usually have
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high salinity (such as ~6.0 wt% NaCl and ~5.6 wt% Na2SO4) and thus very high osmotic
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pressure. The high pressure required to overcome the significant osmotic pressure difference
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across the membranes can make the process cost-prohibitive. Recently, novel loose NF
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hollow fiber membranes were developed with high water permeance (7.0−71 L m−2 h−1 bar−1
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or LMH/bar), high rejection to dyes (95.5−99.9%), and less than 10% rejection to Na2SO4.8
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UF membranes usually have high water permeances and low rejections for the salts, while
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their rejections to the dyes are often too low to achieve satisfactory dye recovery. Tight UF
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membranes were developed with low rejection to Na2SO4 and more than 98% rejection for the
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dyes.10,12,13 Nevertheless, membranes with high water permeance, nearly 100% rejection for
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the organic dyes, and negligible rejection to multivalent salts like Na2SO4, are of great interest
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for this application.
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Graphene oxide (GO)-based membranes with tunable two-dimensional (2D) nanochannels
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formed by stacking GO nanosheets in parallel present a new opportunity for dye
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desalination.3,14-17 Graphene comprises a single layer of carbon atoms connected to a
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hexagonal network by sp2 bonds, which can be oxidized to form GO sheets with hydrophilic
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functional groups (such as hydroxyl, epoxy, and carboxyl), making them highly dispersible in
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water.18 The 2D GO sheets with electrostatic repulsion between the ionized carboxyl groups
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can be easily assembled in parallel into a layered structure.19,20 The sub-nanometer gap
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between the sheets can be tuned for molecular separations, such as gas separation,21-23 solvent
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nanofiltration,20,24,25 and water purification3,26-28. Current research is often focused on
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reducing the channel size to enhance the salt rejections for desalination,4,17,27-37 which makes
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them unsuitable for dye desalination. Particularly, to improve the stability for long-term
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underwater operation, the hydrophilic GO films are often reduced to enhance the π–π
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interactions between the GO sheets.3,20,24,36,38,39 The reduced GO (rGO) films become more
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hydrophobic and have smaller interlayer distance, significantly decreasing the water 3 ACS Paragon Plus Environment
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permeance and increasing the salt rejection.17,40,41 To maintain the channel size during the
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reduction, hybrids of GO and nanocrystals such as metal organic frameworks42 and
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nanotubes17 were prepared, which, however, is complex. On the other hand, if the rGO films
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were deliberately kept in the solvated state (i.e., S-rGO films) after the reduction, they were
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demonstrated to retain the channel size and high permeance of organic solvents for organic
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solvent nanofiltration (OSN).24 However, these S-rGO membranes have not been evaluated
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for dye desalination performance, particularly in the high-concentration salt solutions.
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Herein, we demonstrate that the nanochannels of the S-rGO films can be facilely rightsized
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between the organic dye molecules and hydrated ions (such as Na+, SO42-, and Cl-) by
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deliberate solvation to achieve superior desalination performance of the dye solutions.
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Specifically, we deposited ultrathin layers of S-rGO onto commercial microfiltration (MF)
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membranes, which were kept in the swollen state to control the channel size. The obtained S-
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rGO membranes can reject ~99% of Direct Red 80 (DR 80) with almost no rejection for NaCl
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and Na2SO4. Furthermore, the channel size in S-rGO membranes is decreased by the high
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salinity in the typical dye solutions, as evidenced by the measurement of the molecular weight
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cutoff (MWCO) of the membranes. The resulted S-rGO membranes exhibit higher dye
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rejection and still negligible salt rejection, which makes them particularly suitable for dye
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desalination. By contrast to the conventional studies of GO membranes to decrease channel
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size and increase salt rejection, this study demonstrates the versatility of the rGO membranes
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with channels manipulated to achieve high water and salt permeance and >99% rejection of
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the organic dyes.
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2. MATERIALS AND METHODS
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2.1 Preparation of rGO Dispersion. GO aqueous dispersion was prepared from natural
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graphite powder by a modified Hummers method43 as described in the supporting
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information. The GO dispersion (0.10 mg/mL) was then reduced to rGO by hydrazine in an 4 ACS Paragon Plus Environment
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aqueous ammonia solution with a pH value of 10, where the solution was vigorously shaken
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in an oil bath at 60 oC for 3 h.44
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2.2 Fabrication of S-rGO Films. S-rGO membranes were prepared by vacuum filtration of
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the diluted rGO dispersions through Nylon microfiltration membranes (47 mm in diameter,
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0.65 µm pore size). The rGO mass loading is 100 mg/m2 in our experiments, resulting in a
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thickness of ~50 nm. Thinner rGO membranes leads to higher water permeance and higher
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possibility of forming defects (or lower dye rejection rates). Once the filtration was
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completed, a certain amount of water was immediately poured on the surface of the as-formed
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S-rGO coating to immerse it in water and keep it in the solvated state. The amount of water is
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not critical as long as the S-rGO membrane is fully immersed in water. The as-prepared S-
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rGO membranes were always soaked in water before and during the permeation tests, which
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is critical to retain high water and salt permeance. Conventional dry rGO (D-rGO)
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membranes14,15 were usually prepared by drying the membranes in the air at room
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temperature.
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2.3 Evaluation of the Membrane Separation Performance. Permeation experiments were
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performed using a plastic dead-end filtration cell with a stirring rate of 700 rpm. The rejection
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of the dyes (including MB, CB, CR and DR 80) and Na2SO4 at concentrations ranging from
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0.2 to 2.0 g/L was determined at ~21 oC. The concentration of the dyes and Na2SO4 was
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determined using a UV-vis spectrophotometer and a conductivity meter, respectively. At least
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three different membranes were tested, and the values of the water permeance and rejection
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are the average of these tests.
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Water permeance (AW) with a unit of liters per square meter per hour per bar (LMH/bar) was calculated using equation (1): AW = V/(A × t × ∆P)
(1)
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where V is the volume of the permeated water (liter) with a time of t (h), A is the effective
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membrane area (m2), and ∆P is the effective pressure difference across the membrane (bar). 5 ACS Paragon Plus Environment
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Because the Na2SO4 rejection is very low for the S-rGO membranes and PES 2K, the osmotic
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pressure difference across the membrane is negligible compared with the ΔP.
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The rejection (R) of the dyes or salts was calculated using equation (2):
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R = (1−CP/CF) × 100%
(2)
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where CP and CF are the concentrations of the dyes or salts in the permeate and feed solutions,
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respectively. The steady state CP values were used for the calculation.
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2.4 Characterizations. SEM images were taken using a Carl Zeiss AURIGA CrossBeam
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Focused Ion Beam (FIB) Electron Microscope (Carl Zeiss, Germany). The SEM tests of S-
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rGO composite membrane were taken after being dried in the air. X-ray diffraction (XRD)
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was performed using a Rigaku Ultima IV diffractometer with Cu Kα radiation (λ = 0.15418
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nm, Rigaku, Japan). Atomic force microscope (AFM) images were recorded by a Bruker
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Dimension Icon Atomic Force Microscope (Bruker, Germany). Raman spectra were obtained
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using a Renishaw inVia Raman Microscope (Renishaw plc, UK) with a 514-nm laser. X-ray
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photoelectron spectroscopy (XPS) spectra were collected using a PHI 5600ci photoelectron
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spectrometer (Physical Electronics, Inc., Chanhassen, MN, USA). UV-Vis spectra were
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collected by a UV-2600 spectrophotometer (Shimadzu, Kyoto, Japan) and Vernier UV-Vis
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spectrophotometer (Vernier Software & Technology, Beaverton, OR, USA). Total organic
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carbon (TOC) was measured using a TOC-L TOC analyzer (Shimadzu).
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3. RESULTS AND DISCUSSION
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3.1 Structure of S-rGO Membranes. The as-prepared GO sheets have a lateral size of
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about 1 µm and a thickness of about 0.8 nm (Figure 1a), which are typical for single-layer GO
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sheets.18 The chemical composition of GO and rGO were analyzed by XPS. The C/O atomic
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ratio is 2.2 for GO and 3.2 for rGO (Figure S1a and Table S1), confirming the decreased
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amount of the oxygen-containing functional groups after the reduction. The removal of these
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oxygen-containing groups can also be confirmed by Fourier transfer infrared (FTIR) 6 ACS Paragon Plus Environment
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spectroscopy (Figure S1b). Figures 1b and 1c further confirm the reduction using XPS. The
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C1s peak can be divided into four peaks corresponding to four types of carbon bonds: C‒
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C/C=C (284.6 eV), C‒OH/C‒O‒C (286.5 eV), C=O (287.8 eV), and HO‒C=O (289.0 eV).44
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The percentage of C‒OH/C‒O‒C peak area in the C1s spectrum reduces from 40% for GO to
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28% for rGO, while most of the carboxyl groups remain during the reduction.
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Figure 1. (a) AFM image of the GO sheets and the corresponding height profile. Highresolution C1s XPS spectra of (b) GO and (c) rGO. (d) Photos (inset) and UV-vis spectra of the GO and rGO dispersion. (e) Raman spectra of the GO and rGO sheets.
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The inset of Figure 1d demonstrates that the as-prepared rGO can be stably dispersed in
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alkaline water solution (pH = 10) due to the electrostatic repulsion between the ionized
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carboxyl groups.18 The UV-vis spectra show that the absorption peak of the GO dispersion at
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230 nm redshifts to 263 nm and the absorption in the whole spectral region increases after the
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reduction, confirming that the reduction partially restores the electronic conjugation within
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the GO sheets and creates new graphitic domains.18 The structural change from GO to rGO is
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also validated by their Raman spectra (Figure 1e). The GO spectrum has two prominent peaks
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at 1348 and 1603 cm-1, corresponding to the D- and G-band of carbon, respectively.44 The D-
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band is associated with the structural defects of graphitic domains, and the G-band is related
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to graphitic carbon. The rGO has a slightly higher D/G intensity ratio than the GO, indicating 7 ACS Paragon Plus Environment
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that the average size of the sp2 domains slightly decreases upon the reduction,44 because the
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newly created graphitic domains in rGO are smaller than those in GO. On the other hand,
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these newly created graphitic domains increase the hydrophobicity of the rGO sheets and thus
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the long-term stability during the underwater operation.
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Figure 2a shows a schematic of a thin film composite (TFC) membrane comprising an S-
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rGO selective layer on a Nylon MF membrane. The membrane was fabricated by filtrating the
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as-prepared rGO dispersion through the MF membrane with a pore size of ~0.65 µm (Figure
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2b), smaller than the average lateral dimension of the rGO sheets (~1 µm). As a result, the
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rGO sheets were deposited onto the Nylon surface and formed a uniform coating (Figure 2c).
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As shown in the X-ray diffraction (XRD) patterns in Figure 2d, the S-rGO film does not show
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any diffraction peaks related to the stacked rGO sheets at 2θ = 5−16o, indicating that the peak
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should be at 2θ < 5o, and the interlayer distance is larger than 1.8 nm. After drying in the air,
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the S-rGO membrane transforms into the D-rGO membrane and exhibits a distinct layered
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structure in the cross-sectional SEM image (Figure S2). The D-rGO film exhibits a distinct
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diffraction peak at 2θ = 13.5o, corresponding to an interlayer distance of 0.66 nm. When the
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D-rGO film is soaked in water, its interlayer distance expands to 0.98 nm (2θ = 9.0o),45,46
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which, however, is still much smaller than that in the S-rGO film. Once the rGO film is
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completely dried, the channel size decreases irreversibly.
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Figure 2. (a) Schematic illustration of the structure of the S-rGO composite membrane and its separation of dye molecules and salts. Surface SEM images of (b) a Nylon MF membrane and (c) the S-rGO coating of 100 mg/m2 (about 50 nm) on the MF membrane. (d) Comparison of the XRD patterns of the S-rGO, D-rGO, and re-hydrated D-rGO films.
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3.2 The Water Permeance of S-rGO Membranes. Figure 3a compares the pure water flux
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of the D-rGO and S-rGO membranes at various applied pressures, which are also
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benchmarked with PES 2K (Alfa Laval Inc.) with a molecular weight cutoff (MWCO) of
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2000 Dalton. The water flux in the S-rGO membrane increases linearly with the pressure and
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then deviates from the linear relationship at pressures of above 2 bar. The deviation at high
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pressures can be ascribed to the compression of both S-rGO (consistent with that reported in
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the literature29) and Nylon layer. Figure S3 shows that the water flux of Nylon films increases
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linearly with the pressure before slightly deviating from the linear relationship at 3 bar, while
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the degree of deviation is less than that in the S-rGO membrane suggesting the additional
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contribution from the compression of S-rGO layer. Nevertheless, the S-rGO membrane
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exhibits a water permeance of 80 LMH/bar at 2 bar, which is almost eight times that of D-
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rGO membrane because of the fully solvated structure in S-rGO. The pure water permeance in
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S-rGO membrane is also twice that of commercial PES 2K, demonstrating their potential for
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water purification.
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Figure 3. (a) Comparison of water fluxes of the S-rGO membranes, D-rGO membranes, NF 90 and PES 2K at various applied pressures. (b) Rejection of the S-rGO membranes for different dye molecules, including methyl blue (MB), Columbia blue (CB), Congo red (CR), and DR 80. The insets are photographs of dye solutions before and after the filtration. (c) The DR 80 rejection and water permeance at different DR 80 concentration for the S-rGO membrane and PES 2K. (d) The Na2SO4 rejection and water permeance at different Na2SO4 concentrations for the S-rGO membrane and PES 2K.
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3.3 The Dye Rejection of S-rGO Membranes. We systematically explored the potential of
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the S-rGO membranes for dye desalination applications. First, a series of dye molecules with
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different sizes were selected to test the dye rejection performance of the S-rGO membranes.
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The chemical structure and molecular model of these dye molecules are illustrated in Figure
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S4. Graphene-based materials are known to have high adsorption capability for dye
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molecules.33,41 So to exclude the effect of physical adsorption, we used a relatively high
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concentration of 0.2 g/L for all dyes in the feed solution and calculated the rejections when 10 ACS Paragon Plus Environment
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the concentration of the permeate solution became stable. As shown in Figure 3b and Figure
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S5, the S-rGO membrane exhibits high rejection for these dyes, 97.6 ± 1.0% for methyl blue
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(MB), 99.5 ± 0.2% for Columbia blue (CB), 99.9 ± 0.2% for Congo red (CR), and 99.4 ±
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0.3% for DR 80. Because the S-rGO is negatively charged in water, the high rejections of the
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S-rGO for these negatively charged dye molecules can be attributed to both size exclusion and
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electrostatic repulsion.4,24,33 The CB, CR, and DR 80 exhibit similar rejection, which is
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slightly higher than the MB, presumably because of the smaller molecular size and the less
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negative charge due to the presence of the positively charged –NH- groups in MB (Figure
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S4).
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Textile wastewater usually has a high dye concentration, so the effect of dye concentration
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on rejection and water permeance was evaluated. As shown in Figure 3c, the high DR 80
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rejections in the S-rGO membrane is essentially independent of the DR 80 concentrations in
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the feed solution. On the other hand, increasing the DR 80 concentration decreases the water
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permeances for all the membranes investigated (Figure 3c and Figure S6), presumably
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because the DR 80 molecules adsorb on the rGO and block the pores on the membrane
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surface. Considering the relatively low molar concentration of DR 80, the osmotic pressure of
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the solution (~0.02 bar) is negligible. Nevertheless, the S-rGO membrane exhibits much
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higher water permeance than PES 2K and NF 90. For example, with 2.0 g/L DR 80, the S-
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rGO membrane shows a water permeance of 42 ± 3 LMH/bar, which is more than four times
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that of PES 2K (9.1 ± 0.8 LMH/bar) and about five times that of NF 90 (8.0 ± 0.1 LMH/bar).
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3.4 The Salt Rejection of S-rGO Membranes. For dye desalination, the membrane should
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not only have a high rejection for dye molecules but also have high salt permeance or salt
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rejection as low as possible, especially at high salt concentrations.6 Na2SO4 was chosen as a
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marker because Na2SO4 often has higher rejection than NaCl due to the larger SO42- ions, and
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it also has the size similar to the organic dyes (Figure S4 and Table S2). As shown in Figure
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3d, when the concentration of Na2SO4 is 2 g/L, the S-rGO membrane shows very low Na2SO4 11 ACS Paragon Plus Environment
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rejection (8.9%), which is much lower than NF 90 (96.4%, Figure S6) and almost same as
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PES 2K (9.4%). More importantly, increasing the Na2SO4 content further decreases its
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rejection. For example, as the Na2SO4 content increases from 2 g/L to 60 g/L, the rejection
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decreases from 8.9% to almost zero because GO is negatively charged and increasing the salt
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content decreases the Donnan potential, increases the co-ion sorption (SO42- in this case), and
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thus increasing the salt permeability.47,48 This behavior is consistent with NF90, which shows
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decreased rejection with increasing salt content (Figure S6b) and has negatively charged
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surface. This attribute of the S-rGO films is very desirable because the waste dye/salt streams
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usually have very high salinity (such as ~6.0 wt% NaCl and ~5.6 wt% Na2SO4). Additionally,
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even at a Na2SO4 concentration of 60 g/L, the S-rGO membrane still exhibits water
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permeance of 65 ± 1 LMH/bar, more than two times that of PES 2K (26 ± 1 LMH/bar).
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3.5 The Molecular Weight Cutoff (MWCO) of S-rGO Membranes. Figure 3d also
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shows that the water permeance in the S-rGO membrane decreases with increasing the
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Na2SO4 content. We hypothesize that the nanochannels in the S-rGO are narrowed with
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increasing the salt content, leading to the distinct decrease in water permeance. To prove this
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assumption, we determined the MWCO of the membranes using a series of polyethylene
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glycol (PEG) molecules with different molecular weight dissolved in water or 60 g/L Na2SO4
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solution, which are shown in Figures 4a and 4b. The Stokes diameter (d, nm) of PEG can be
257
calculated using d = 33.46 × 10-3 M0.557, where M is the PEG molecular weight (g/mol). The
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S-rGO exhibits a channel gap size between 3.4 and 5.7 nm, which corresponds to the PEG
259
molecular weight of 4,000 and 10,000 g/mol. This MWCO result is consistent with the XRD
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patterns (Figure 2d), which indicates that the channel size should be more than 1.8 nm.
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Interestingly, the PES 2K also shows the pore size between 3.4 and 5.7 nm and a MWCO of
262
10 K, which is much larger than the 2K provided by the manufacturer.
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Figure 4b shows that the PEG rejection by PES 2K film is lower in the salt solution than in
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water because the PEG molecules are more compactly coiled and thus have smaller sizes in 12 ACS Paragon Plus Environment
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the solution with higher salinity.49,50 However, the rejections of PEG by the S-rGO membrane
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are higher in the salt solution than in water (Figure 4a), indicating that the channel size of the
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S-rGO in the salt solution is smaller than that in water. The ionic strength may cause the
268
screening effect, reduce the repelling force between the carboxyl groups on the rGO, and thus
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decrease the channel sizes.29,51
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Figure 4. The MWCO curves of (a) an S-rGO membrane and (b) PES 2K in water and 60 g/L Na2SO4 using 1 g/L PEG with various molecular weights. Separation of DR 80 and Na2SO4 in (c) the S-rGO membrane and (d) PES 2K. The concentration of Na2SO4 is 60 g/L in all feed solutions. (e) Comparison of the dye desalination performance in the S-rGO membrane with those reported in the literature, including GO-based membranes,4,17,28,29,31,33,34 polymeric loose NF membranes,1,6-8 and polymeric tight UF membranes10. The details are shown in Table S3. (f) The long-term stability and fouling behavior of the membranes by alternately filtrating 13 ACS Paragon Plus Environment
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pure water and the salty dye solution for three cycles. The dye solution contains 0.2 g/L DR 80 and 60 g/L Na2SO4. The black filled data points refer to the cycles using pure water and the red data points correspond to the periods filtrating the salty dye solution. Water flux recovery is the ratio of water flux to the initial water flux of the first pure water cycle.
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3.6 Separation of Salt/Dye Mixture Solution and Low-Fouling Behavior of the S-rGO
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Membranes. Figures 4c and 4d demonstrate the desalination of the dye solutions containing
285
60 g/L Na2SO4 and various concentrations of DR 80 in the S-rGO membranes and PES 2K,
286
respectively. The S-rGO membrane exhibits rejection of almost 100% for DR 80 and 0% for
287
Na2SO4. Increasing the dye concentration decreases the water permeance, which is consistent
288
with that in the dye solutions without Na2SO4. At the DR 80 concentration of 1.2 g/L, the
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water permeance is 27 ± 1 LMH/bar, more than five times that of PES 2K (5.2 ± 0.2
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LMH/bar). PES 2K still shows a Na2SO4 rejection of 4.5% at the DR 80 concentration of 1.2
291
g/L.
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Figure 4e compares the dye desalination performance of the S-rGO membranes with other
293
membranes reported in the literature. The separation factor (α) is defined as the ratio of the
294
salt permeation rate to the dye permeation rate and calculated using α = (1-Rsalt)/(1-Rdye),
295
representing the salt removal efficiency of membranes.7 The higher the separation factor, the
296
better the salt removal efficiency. The S-rGO membrane shows both higher separation factor
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and higher water permeance than the previously reported GO-based membranes,4,17,28,29,31,33,34
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polymeric loose NF membranes,1,6-8 and polymeric tight UF membranes,10 indicating an
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excellent desalination performance. In addition, the S-rGO membrane exhibits excellent long-
300
term stability and low-fouling behavior with the salty dye solutions. The water flux remains
301
stable during the filtration of pure water, and it decreased by almost 60% when the feed
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solution was changed to the salty dye solution (Figure 4f). As discussed in Section 3.3 and
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3.5, this can be attributed to the narrowing of nanochannels in S-rGO membrane at high salt
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concentration and the partial blocking of pores by dye molecules. However, the water flux can
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that the structural change of S-rGO membrane caused by high-concentration salt is
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completely restored, and the blocking of pores by dye molecules is not permanent and can be
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reversed. After alternately filtrating pure water and the salty dye solution for three cycles, the
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water flux recovery is still 100% (Figure 4f), demonstrating the good stability of the S-rGO
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membrane.
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ASSOCIATED CONTENT
313
Supporting Information
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The Supporting Information is available free of charge on the ACS publications website.
315
Details on the preparation of GO, the chemical structures of the dyes, the dye and salt
316
rejection of NF 90, and supplementary figures and tables (PDF).
317
AUTHOR INFORMATION
318
Corresponding Author
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*E-mail:
[email protected] 320
Notes
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The authors declare no conflict of interest.
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ACKNOWLEDGMENT
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We gratefully acknowledge the support from the U.S. National Science Foundation (NSF)
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under CAREER award number 1554236. This work was also partially supported by the
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U.S. NSF Division of Civil, Mechanical, and Manufacturing Innovation (CMMI) with a
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grant number of 1635026.
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