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Heavily armed security forces, led by the paramilitary Rapid Support Forces, lined the streets ahead of the demonstrations that started at approximately 1:20 p.m. local time (7:20 a.m. ET).
Elsewhere, at least one protester died after being shot in the chest during a mass demonstration in the town of Atbara, according to Sudan's Doctors Committee.
And an eyewitness recounted seeing security forces firing tear gas at protesters in Omdurman, a suburb of Khartoum.
The Sudanese Professional Associations (SPA), a body that led protests against former leader Omar al-Bashir, have called for the immediate and unconditioned handover of power to civilians.
The SPA said the protesters' aim is to express "determination to achieve freedom, peace and justice" in Sudan.
Fears of violence
The SPA warned of potential violence against protesters ahead of Sunday's mass demonstrations, calling on the international community to not allow the Transitional Military Council (TMC) to "get away with another massacre" of demonstrators.
The SPA's statement comes after the TMC -- which is led by former Janjaweed militia leader General Mohammed Hamdan Doglo (known as Hemeti) -- warned Saturday that the Sudanese opposition would be held "fully responsible for any damage caused" during Sunday's march, according to state-run Sudan News Agency (SUNA).
"The same Janjaweed militias and other security forces that resorted to the use of excessive force at the massive peaceful sit-in at the Army Headquarters in Khartoum on 3 June 2019 might use the same violent tactics against our people today," the protest leaders said in a statement.
According to the SPA, security forces stormed its headquarters on Saturday and prevented the SPA from holding a news conference.
Security crackdown
The violence followed weeks of sit-in protests by pro-democracy advocates in the capital after the dramatic fall of al-Bashir in April.
Initial celebrations gave way to demands that the TMC, which took over after Bashir's ousting, make way for a civilian-led interim body and hold elections.