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sankalpayas tu sankalpah
kamah sankalpajah smrtah
vasavo ’stau vasoh putras
tesam namani me srnu
dronah prano dhruvo ’rko ’gnir
doso vastur vibhavasuh
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
The son of Sankalpa was known as Sankalpa, and from him lust was born. The sons of Vasu were known as the eight Vasus. Just hear their names from me: Drona, Prana, Dhruva, Arka, Agni, Dosa, Vastu and Vibhavasu. From Abhimati, the wife of the Vasu named Drona, were generated the sons named Harsa, Soka, Bhaya and so on.