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antibacterial finishing antibacterial activity bioactive carboxylic acid cotton fabrics chloroacetate groups keighley dobby negative dobby weaving mechanisms negative double lift dobby pga nanofibers pcl biodegredable plga extracellular matrix pdo polyglycolic acid pla dref3 dref dref2 dref technology friction friction spinnin textile polyesters polyamides fricton spun yarn friction yarns friction spinning yarn and carpet printing textile printing printing position analysis mechatronic digital system dornier air jet weaving weaving machinery control system rieter blowroom machinery control of blowroom