SB 9.24.51
rajanya-kalpa-varsadya
upadeva-suta dasa
vasu-hamsa-suvamsadyah
sridevayas tu sat sutah
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Vasudeva also had a wife named Upadeva, from whom came ten sons, headed by Rajanya, Kalpa and Varsa. From Srideva, another wife, came six sons, such as Vasu, Hamsa and Suvamsa.