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IoT and Spacecraft
Informatics
This page intentionally left blank
Aerospace Engineering

IoT and Spacecraft

Informatics

Edited by

K.L. YUNG
Department of Industrial and Systems Engineering, The
Hong Kong Polytechnic University, Hong Kong, P.R.
China

ANDREW W.H. IP
Department of Mechanical Engineering, University of
Saskatchewan, Saskatoon, SK, Canada; Department of
Industrial and Systems Engineering, The Hong Kong
Polytechnic University, Hong Kong SAR, P.R. China

FATOS XHAFA
Universitat Politècnica de Catalunya, Barcelona, Spain

K.K. TSENG
Harbin Institute of Technology, Shenzhen, P.R. China
Elsevier
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The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom
50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States
Copyright © 2022 Elsevier Inc. All rights reserved.

No part of this publication may be reproduced or transmitted in any form or by any means,
electronic or mechanical, including photocopying, recording, or any information storage and
retrieval system, without permission in writing from the publisher. Details on how to seek
permission, further information about the Publisher’s permissions policies and our
arrangements with organizations such as the Copyright Clearance Center and the Copyright
Licensing Agency, can be found at our website: www.elsevier.com/permissions.
This book and the individual contributions contained in it are protected under copyright by
the Publisher (other than as may be noted herein).
Notices
Knowledge and best practice in this field are constantly changing. As new research and
experience broaden our understanding, changes in research methods, professional practices,
or medical treatment may become necessary.
Practitioners and researchers must always rely on their own experience and knowledge in
evaluating and using any information, methods, compounds, or experiments described
herein. In using such information or methods they should be mindful of their own safety
and the safety of others, including parties for whom they have a professional responsibility.
To the fullest extent of the law, neither the Publisher nor the authors, contributors, or
editors, assume any liability for any injury and/or damage to persons or property as a matter
of products liability, negligence or otherwise, or from any use or operation of any methods,
products, instructions, or ideas contained in the material herein.
ISBN: 978-0-12-821051-2

For Information on all Elsevier publications

visit our website at https://www.elsevier.com/books-and-journals

Publisher: Matthew Deans

Acquisitions Editor: Brian Guerin
Editorial Project Manager: Fernanda A. Oliveira
Production Project Manager: Nirmala Arumugam
Cover Designer: Greg Harris
Typeset by MPS Limited, Chennai, India
Prof. Xhafa dedicates this book to the memory of his late mother.
This page intentionally left blank
Contents

List of contributors xv
About the editors xix
Foreword xxiii
Preface xxv
Acknowledgment xxix

1. Artificial intelligence approach for aerospace defect detection

using single-shot multibox detector network in
phased array ultrasonic 1
Yuk Ming Tang, Andrew W.H. Ip and Wenqiang Li
1.1 Introduction 1
1.1.1 Ultrasonic inspection in aircraft 1
1.1.2 Autonomous inspection 2
1.2 Literature review 3
1.2.1 Composite material for the aerospace industry 3
1.2.2 Defects on composite materials 3
1.2.3 Defect inspection of composite materials 4
1.3 Defect detection algorithm 5
1.3.1 R-convolutional neural network 6
1.3.2 You only look once 6
1.3.3 Single-shot mulibox detector 7
1.3.4 Single-shot mulibox detector versus you only look once 8
1.3.5 Convolutional neural network-based object detection in
nondestructive testing 9
1.4 Deployment of defect detection 11
1.4.1 Setting up of the deep learning environment 11
1.4.2 Model training 13
1.4.3 Deployment in NVidia jetson TX2 14
1.4.4 Validation 15
1.5 Implementation 16
1.5.1 Dataset preparation 16
1.5.2 Defect scanning 16
1.5.3 Image augmentation 17
1.5.4 Image annotation 18
1.6 Results 19
1.6.1 Loss 19

vii
viii Contents

1.6.2 Validation of the defect detection system 20

1.7 Conclusions 25
Acknowledgment 26
References 26

2. Classifying asteroid spectra by data-driven machine

learning model 29
Tan Guo, Xiao-Ping Lu, Keping Yu, Yong-Xiong Zhang and Fulin Luo
2.1 Introduction 29
2.1.1 Asteroid spectroscopic survey 30
2.1.2 Asteroid taxonomy 32
2.2 Related work 35
2.2.1 Notations used in this chapter 35
2.2.2 Low-dimensional feature learning for spectral data 36
2.2.3 Classifier models for spectral data classification 37
2.3 Neighboring discriminant component analysis:
a data-driven machine learning model for asteroid spectra feature
learning and classification 39
2.4 Experiments 42
2.4.1 Preprocessing for the asteroid spectral data 42
2.4.2 Experimental setup and results 43
2.4.3 Analysis for neighboring discriminant component analysi
parameters 49
2.4.4 Analysis for extreme learning machine classifier
parameters 50
2.5 Conclusion 53
Acknowledgment 54
Appendix A Reflectance spectra characteristics for some representative
asteroids from different categories are used in this chapter 54
References 65

3. Recognition of target spacecraft based on shape features 67

Na Dong, Xinyu Liu, Donghui Li, Andrew W.H. Ip and K.L. Yung

3.1 Introduction 67
3.1.1 Background 67
3.1.2 Related works 69
3.2 Artificial bee colony algorithm 72
3.3 Species-based artificial bee colony algorithm 73
3.3.1 Species 73
 Contents ix

3.3.2 Species-based artificial bee colony algorithm 74

3.3.3 Benchmark test 78
3.4 The application of species-based artificial bee colony in circle detection 81
3.4.1 Representation of the circle 81
3.4.2 Assessment of circular accuracy 82
3.5 The application of species-based artificial bee colony in multicircle
detection 83
3.5.1 Test experiments on drawn sketches 83
3.5.2 Detection for circular modules on noncooperative targets 86
3.5.3 Detection performance with noise 89
3.5.4 Detection performance under different light intensity 90
3.5.5 Detection performance during continuous flight 91
3.6 The application of species-based artificial bee colony in multitemplate
matching 93
3.6.1 Multitemplate matching by species-based artificial bee colony 94
3.6.2 Multitemplate matching for blurred images 96
3.6.3 Multitemplate matching for images with noises 96
3.7 Conclusions 96
References 98

4. Internet of Things, a vision of digital twins and case studies 101

Aparna Murthy, Muhammad Irshad, Sohail M. Noman, Xilang Tang,
Bin Hu, Song Chen and Ghadeer Khader
4.1 Introduction to internet of things 101
4.2 Components of internet of things 102
4.2.1 Sensor/devices 103
4.2.2 Connectivity 103
4.2.3 Data processing 104
4.2.4 User interface 104
4.3 Digital twin 105
4.4 Digital twin description in internet of things context 108
4.5 Multiagent system architecture 108
4.5.1 Dynamic real-life environment 109
4.5.2 Collaborative learning 109
4.6 The mathematical construct of a typical digital twin 112
4.7 Internet of things analytics 113
4.7.1 Case studies 1—internet of things devices for mobile link 114
4.7.2 Case study 2—intelligent internet of things -based system
studying postmodulation factors 116
4.7.3 Case studies 3—internet of things -based vertical plant wall
for indoor climate control 121
x Contents

4.8 Discussion 123

4.9 Conclusion 124
References 125

5. Subspace tracking for time-varying direction-of-arrival

estimation with sensor arrays 129
Bin Liao, Zhiguo Zhang and Shing Chow Chan

5.1 Introduction 129

5.1.1 Subspace tracking 129
5.1.2 Direction-of-arrival estimation 131
5.2 Subspace tracking algorithms 131
5.2.1 Signal model 131
5.2.2 Projection approximate subspace tracking 132
5.2.3 Modified projection approximate subspace tracking 133
5.2.4 Modified orthonormal projection approximate subspace tracking 135
5.2.5 Kalman filtering 135
5.2.6 Kalman filter with variable number of measurements based
subspace tracking 137
5.3 Robust subspace tracking 140
5.3.1 Robust projection approximate subspace tracking 141
5.3.2 Robust Kalman filter with variable number of measuremen 142
5.4 Subspace-based direction-of-arrival tracking 145
5.5 Simulation results 146
5.5.1 Subspace and direction-of-arrival tracking in Gaussian noise 146
5.5.2 Subspace and direction-of-arrival tracking in impulsive noise 149
5.6 Conclusions 153
References 153

6. An overview of optimization and resolution methods in

satellite scheduling and spacecraft operation: description,
modeling, and application 157
Andrew W.H. Ip, Fatos Xhafa, Jingyi Dong and Ming Gao
6.1 Introduction 157
6.1.1 Background 157
6.1.2 Literature review and classification of scheduling problems 159
6.1.3 The scheduling problems 160
6.1.4 Integrating scheduling in the big data environment 162
6.2 Satellite scheduling problems 164
6.2.1 Satellite range scheduling 164
 Contents xi

6.2.2 Satellite downlink scheduling 164

6.2.3 Satellite broadcast scheduling 167
6.2.4 Satellite scheduling data download 168
6.2.5 Satellite scheduling at large scale 168
6.2.6 Satellite scheduling at small scale 169
6.2.7 Multisatellite scheduling 169
6.2.8 Multisatellite, multistation TT & C scheduling 169
6.2.9 Ground station scheduling 170
6.2.10 Low-earth-orbit satellite scheduling 176
6.2.11 Computational complexity of satellites scheduling 177
6.2.12 Satellite deployment systems 178
6.3 Spacecraft optimization problems 178
6.4 Computational complexity resolution methods 179
6.4.1 Local search methods 181
6.5 Future trend of algorithms and models and solutions of satellite
scheduling problem 208
6.6 Benchmarking and simulation platforms 212
6.7 Conclusions and future work 213
Acknowledgments 213
References 213

7. Colored Petri net modeling of the manufacturing processes

of space instruments 219
Ang Li, Bo Li, Ming Gao, K.L. Yung and Andrew W.H. Ip

7.1 Introduction 219

7.1.1 Development of Petri net 219
7.1.2 Classification of Petri net 219
7.1.3 Petri net properties 224
7.1.4 Modeling with TCPN 225
7.1.5 Application of Petri net 225
7.1.6 Optimization tools 227
7.2 Case study 233
7.2.1 Case modeling and simulation 233
7.2.2 Simulation result and analysis 241
7.2.3 Improvement strategy 246
7.3 Fault diagnosis of Rocket engine starting process 249
7.3.1 Online fault diagnosis method of observable Petri net 249
7.4 Conclusion 250
Acknowledgments 251
References 252
xii Contents

8. Product performance model for product innovation, reliability

and development in high-tech industries and a case study
on the space instrument industry 255
Yuk Ming Tang, Andrew W.H. Ip, Yim Shan Au and K.L. Yung
8.1 Introduction 255
8.1.1 Project background 255
8.1.2 Project objectives 256
8.2 Literature review 256
8.2.1 Definition of innovation 256
8.2.2 Factors affecting innovations 257
8.2.3 Definition of product reliability 258
8.2.4 Factors affecting product reliability 258
8.2.5 Definition of new product development 259
8.2.6 Factor affecting new product development 260
8.2.7 Product relationships in high-tech industries 260
8.3 Methodology 261
8.3.1 Research framework 261
8.3.2 Research hypothesis 261
8.3.3 Data collection 263
8.3.4 Case study of the soil preparation system 263
8.4 Methodology 263
8.4.1 Respondents 263
8.4.2 Results of questionnaire 264
8.4.3 Result of case study on soil preparation system compared to
hi-tech industry 268
8.5 Discussion 275
8.5.1 Relationship of innovation, reliability and product development
in high-tech industries 275
8.6 Conclusions 279
8.6.1 Summary of study 279
8.6.2 Limitations of study 280
8.6.3 Suggestions for future work 280
Acknowledgment 281
References 281
 Contents xiii

9. Monocular simultaneous localization and mapping for

a space rover application 285
K.K. Tseng, Jun Li, Yachin Chang, K.L. Yung and Andrew W.H. Ip

9.1 Introduction 285

9.2 Related work 287
9.3 Proposed system and algorithm 288
9.3.1 System initialization 289
9.3.2 Map management 291
9.3.3 Feature search and matching 293
9.3.4 System state update 296
9.4 Experiments 297
9.4.1 System display and camera view 298
9.4.2 Performance comparison 298
9.5 Planetary rover application 300
9.6 Conclusions 304
References 305

10. Reliability and health management of spacecraft 307

Xilang Tang, K.L. Yung and Bin Hu

10.1 Introduction 307

10.2 An introduction to “health management” 308
10.2.1 The basic concept of “health management” 308
10.2.2 Condition-based maintenance 309
10.3 The application of spacecraft health management—integrated
vehicle health management 312
10.4 The classical structure of health management system for spacecraft 315
10.4.1 The space-borne health management system 315
10.4.2 The ground health management system 318
10.5 Benefits of Internet of Things to health management 319
10.5.1 The difference between Internet of Things and sensor network 319
10.5.2 Internet of Things brings more benefit for health management
of spacecraft 320
10.6 Prognostics technique 321
10.6.1 Problems for model-based prognostics 322
10.6.2 Methodology of model-based prognostics 323
10.6.3 An example of prognostics for solenoid valve 327
References 334

Index 337
This page intentionally left blank
List of contributors

Yim Shan Au
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic
University, Hong Kong, P.R. China; Laboratory for Artificial Intelligence in Design,
Hong Kong Science Park, New Territories, Hong Kong SAR, P.R. China
Shing Chow Chan
Department of Electrical and Eletronic Engineering, The University of Hong Kong,
Hong Kong, P.R. China
Yachin Chang
Harbin Institute of Technology (Shenzhen), Shenzhen, P.R. China
Song Chen
Tianjin University of Science and Technology, Tianjin, P.R. China
Jingyi Dong
School of Management Science and Engineering, Key Laboratory of Big Data
Management Optimization and Decision of Liaoning Province, Dongbei University of
Finance and Economics, Dalian, P.R. China
Na Dong
School of Electrical and Information Engineering, Tianjin University, Tianjin,
P.R. China
Ming Gao
School of Management Science and Engineering, Key Laboratory of Big Data
Management Optimization and Decision of Liaoning Province, Dongbei University of
Finance and Economics, Dalian, P.R. China
Tan Guo
Faculty of Information Technology, Macau University of Science and Technology, Taipa,
Macau, P.R. China; State Key Laboratory of Lunar and Planetary Sciences, Macau
University of Science and Technology, Taipa, Macau, P.R. China; School of
Communication and Information Engineering, Chongqing University of Posts and
Telecommunications, Chongqing, P.R. China
Bin Hu
Changsha Normal University, Changsha, P.R. China
Andrew W.H. Ip
Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK,
Canada; Department of Industrial and Systems Engineering, The Hong Kong Polytechnic
University, Hong Kong SAR, P.R. China; College of Engineering, University of
Saskatchewan, Saskatoon, SK, Canada
Muhammad Irshad
Department of Electronic and Information Engineering, The Hong Kong Polytechnic
University, Hong Kong, China

xv
xvi List of contributors

Ghadeer Khader
Diligent Trust Inc., IT Solutions, Toronto, Canada
Ang Li
School of Management Science and Engineering, Key Laboratory of Big Data
Management Optimization and Decision of Liaoning Province, Dongbei University of
Finance and Economics, Dalian, P.R. China
Bo Li
School of Management Science and Engineering, Key Laboratory of Big Data
Management Optimization and Decision of Liaoning Province, Dongbei University of
Finance and Economics, Dalian, P.R. China
Donghui Li
School of Electrical and Information Engineering, Tianjin University, Tianjin, P.R. China
Jun Li
Harbin Institute of Technology (Shenzhen), Shenzhen, P.R. China
Wenqiang Li
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic
University, Hong Kong SAR, P.R. China
Bin Liao
College of Elecronics and Information Engineering, Shenzhen University, Shenzhen,
P.R. China
Xinyu Liu
School of Electrical and Information Engineering, Tianjin University, Tianjin, P.R. China
Xiao-Ping Lu
Faculty of Information Technology, Macau University of Science and Technology, Taipa,
Macau, P.R. China; State Key Laboratory of Lunar and Planetary Sciences, Macau
University of Science and Technology, Taipa, Macau, P.R. China
Fulin Luo
State Key Laboratory of Information Engineering in Surveying, Mapping and Remote
Sensing, Wuhan University, Wuhan, P.R. China
Aparna Murthy
EIT, PEO, Toronto, ON, Canada
Sohail M. Noman
Shantou University Medical College, Shantou, Guangdong, P.R. China
Xilang Tang
Air Force Engineering University, Xi’an, P.R. China
Yuk Ming Tang
Laboratory for Artificial Intelligence in Design, Hong Kong Science Park, New
Territories, Hong Kong SAR, P.R. China; Department of Industrial and Systems
Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, P.R. China
 List of contributors xvii

K.K. Tseng
Harbin Institute of Technology (Shenzhen), Shenzhen, P.R. China
Fatos Xhafa
Universitat Politècnica de Catalunya, Barcelona, Spain
Keping Yu
Global Information and Telecommunication Institute, Waseda University, Tokyo, Japan
K.L. Yung
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic
University, Hong Kong, P.R. China
Yong-Xiong Zhang
Faculty of Information Technology, Macau University of Science and Technology, Taipa,
Macau, P.R. China; State Key Laboratory of Lunar and Planetary Sciences, Macau
University of Science and Technology, Taipa, Macau, P.R. China
Zhiguo Zhang
School of Biomedical Engineering, Health Science Center, Shenzhen University,
Shenzhen, P.R. China
This page intentionally left blank
About the editors

Professor K.L. Yung is an Associate Head and

Chair Professor of the Department of Industrial
and Systems Engineering of The Hong Kong
Polytechnic University. He received his BSc in
Electronic Engineering at Brighton University in
1975, MSc, DIC in Automatic Control Systems at
Imperial College of Science, Technology &
Medicine, University of London in 1976, and
PhD in Microprocessor Applications in Process
Control at Plymouth University in the United Prof. K.L. Yung, the
Kingdom in 1985. He became a Chartered Hong Kong Polytechnic
Engineer (C.Eng., MIEE) in 1982. After gradua- University, China
tion, he worked in the United Kingdom for companies such as BOC
Advanced Welding Co. Ltd., the British Ever Ready Group, and the
Cranfield Unit for Precision Engineering (CUPE). In 1986, he returned
to Hong Kong to join the Hong Kong Productivity Council as a
Consultant and subsequently switched to academia to join the
Department of Industrial and Systems Engineering of The Hong Kong
Polytechnic University. He has a wealth of experience in making sophisti-
cated space tools for deep space exploration missions. These include Space
Holinser Forceps for the MIR Space Station, the “Mars Rock Corer” for
the European Space Agency’s Mars Express Mission (2003), the “Soil
Preparation System” for the Sino-Russian Phobos-Grunt Mission (2011),
and advanced precision robotic systems for the China Lunar Exploration
Missions (Chang’e 3, 4, 5, and 6) such as the Camera Pointing Systems
(CPS), and the Mars Exploration Mission (Tianwen-1), such as the Mars
Surveillance Camera.

xix
Another random document with
no related content on Scribd:
His anger then the bird express’d:
“Sure, since the day I left the nest,
I ne’er heard folly utter’d
So fit to move a skylark’s mirth,
As what this little son of earth
Hath in his grossness mutter’d.

“Dull fool! to think we sons of air

On man’s low actions waste a care,
His virtues or his vices;
Or soaring on the summer gales
That we should stoop to carry tales
Of him or his devices!

“Mistaken fool! man needs not us

His secret merits to discuss,
Or spy out his transgression;
When once he feels his conscience stirr’d,
That voice within him is the bird
That moves him to confession.”
THE RAINBOW

III
After the tempest in the sky,
How sweet yon rainbow to the eye!
Come, my Matilda, now while some
Few drops of rain are yet to come,
In this honeysuckle bower
Safely shelter’d from the shower,
We may count the colours o’er.
Seven there are, there are no more;
Each in each so finely blended,
Where they begin, or where are ended,
The finest eye can scarcely see.
A fixed thing it seems to be;
But, while we speak, see how it glides
Away, and now observe it hides
Half of its perfect arch; now we
Scarce any part of it can see.
What is colour? If I were
A natural philosopher,
I would tell you what does make
This meteor every colour take;
But an unlearned eye may view
Nature’s rare sights, and love them too.
Whenever I a rainbow see,
Each precious tint is dear to me;
For every colour find I there
Which flowers, which fields, which ladies wear;
My favourite green, the grass’s hue,
And the fine deep violet-blue,
And the pretty pale blue-bell,
And the rose I love so well;
All the wondrous variations
Of the tulip, pinks, carnations;
This woodbine here, both flower and leaf;
’Tis a truth that’s past belief,
That every flower and every tree
And every living thing we see,
Every face which we espy,
Every cheek and every eye,
In all their tints, in every shade,
Are from the rainbow’s colours made.
 QUEEN ORIANA’S
DREAM

IV

On a bank with roses shaded,

Whose sweet scent the violets aided
Violets whose breath alone
Yields but feeble smell or none,
(Sweeter bed Jove ne’er reposed on
When his eyes Olympus closed on,)
While o’erhead six slaves did hold
Canopy of cloth o’ gold,
And two more did music keep
Which might Juno lull to sleep,
Oriana who was queen
To the mighty Tamerlane,
That was lord of all the land
Between Thrace and Samarcand,
While the noon-tide fervour beam’d,
Mus’d herself to sleep, and dream’d.
 Thus far, in magnific strain,
A young poet soothed his vein,
But he had nor prose nor numbers
To express a princess’ slumbers.—
Youthful Richard had strange fancies,
Was deep versed in old romances,
And could talk whole hours upon
The great Cham and Prester John,—
Tell the field in which the Sophi
From the Tartar won a trophy—
What he read with such delight of
Thought he could as easily write of;
But his over-young invention
Kept not pace with brave intention.
Twenty suns did rise and set,
And he could no further get;
But, unable to proceed,
Made a virtue out of need;
And his labours wiselier deem’d of,
Did omit what the queen dream’d of.
 THE SISTER’S
EXPOSTULATION
ON THE BROTHER’S
LEARNING LATIN

V
Shut these odious books up, brother;
They have made you quite another
Thing from what you used to be:
Once you liked to play with me,
Now you leave me all alone,
And are so conceited grown
With your Latin, you’ll scarce look
Upon any English book.
We had used on winter eves
To con over Shakespeare’s leaves,
Or on Milton’s harder sense
Exercise our diligence,
And you would explain with ease
The obscurer passages;
Find me out the prettiest places,
The poetic turns and graces,
Which, alas! now you are gone,
I must puzzle out alone;
And oft miss the meaning quite,
Wanting you to set me right.
All this comes since you’ve been under
Your new master. I much wonder
What great charm it is you see
In those words, musa, musæ;
Or in what do they excel
Our word song. It sounds as well
To my fancy as the other.
Now believe me, dearest brother,
I would give my finest frock
And my cabinet and stock
Of new playthings, every toy,
I would give them all with joy,
Could I you returning see
Back to English and to me.
THE BROTHER’S
REPLY

VI
Sister, fie for shame, no more!
Give this ignorant babble o’er,
Nor, with little female pride,
Things above your sense deride.
Why this foolish underrating
Of my first attempts at Latin?
Know you not each thing we prize
Does from small beginnings rise?
’Twas the same thing with your writing
Which you now take such delight in.
First you learnt the down-stroke line,
Then the hairstroke thin and fine,
Then a curve and then a better,
Till you came to form a letter;
Then a new task was begun,
How to join them two in one;
Till you got (these first steps pass’d)
To your fine text-hand at last.
So, though I at first commence
With the humble accidence,
And my study’s course affords
Little else as yet but words,
I shall venture in a while
At construction, grammar, style,
Learn my syntax, and proceed
Classic authors next to read,
Such as wiser, better, make us,
Sallust, Phædrus, Ovid, Flaccus:
All the poets with their wit,
All the grave historians writ,
Who the lives and actions show
Of men famous long ago;
Even their very sayings giving
In the tongue they used when living.
 Think not I shall do that wrong
Either to my native tongue,
English authors to despise,
Or those books which you so prize;
Though from them awhile I stray,
By new studies call’d away,
Them when next I take in hand,
I shall better understand;
For I’ve heard wise men declare
Many words in English are
From the Latin tongue derived,
Of whose sense girls are deprived
’Cause they do not Latin know.
But if all your anger grow
From this cause, that you suspect,
By proceedings indirect,
I would keep (as miser’s pelf)
All this learning to myself;
Sister, to remove this doubt,
Rather than we will fall out,
(If our parents will agree)
You shall Latin learn with me.
 ON THE
LORD’S PRAYER

VII

I have taught your young lips the good words to say over,
Which form the petition we call The Lord’s Prayer,
And now let me help my dear child to discover
The meaning of all the good words that are there.

“Our Father,” the same appellation is given

To a parent on earth, and a Parent of all,
O gracious permission! the God that’s in heaven
Allows His poor creatures Him Father to call.

To “hallow His name” is to think with devotion

Of it, and with reverence mention the same;
Though you are so young, you should strive for some notion
Of the awe we should feel at the Holy One’s name.
His “will done on earth, as it is done in heaven,”
Is a wish and a hope we are suffer’d to breathe,
That such grace and favour to us may be given,
Like good angels on high we may live here beneath.

“Our daily bread give us,” your young apprehension

May well understand, is to pray for our food;
Although we ask bread, and no other thing mention,
God’s bounty gives all things sufficient and good.

You pray that your “trespasses may be forgiven,

As you forgive those that are done unto you.”
Before this you say to the God that’s in heaven,
Consider the words which you speak—are they true?

If any one has in the past time offended

Us angry creatures, who soon take offence,
These words in the prayer are surely intended
To soften our minds, and expel wrath from thence.
We pray that “temptations may never assail us,”
And “deliverance beg from all evil,” we find:
But we never can hope that our prayer will avail us,
If we strive not to banish ill thoughts from our mind.

“For thine is the kingdom, the power, and the glory,

For ever and ever,” these titles are meant
To express God’s dominion and majesty o’er ye;
And “Amen” to the sense of the whole gives assent.