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Discovery and designation
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| Discovered by | Ted Bowell |
| Discovery site | Flagstaff (AM) |
| Discovery date | December 20, 1981 |
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Designations
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| MPC designation | 2904 |
| Named after | Peter Millman |
| Alternate name(s) | 1981 YB |
| Epoch May 14, 2008 | |
| Ap | 2.9655134 |
| Peri | 2.2398302 |
| Eccentricity | 0.1394112 |
| Orbital period | 1533.6545800 |
| Mean anomaly | 113.02832 |
| Inclination | 15.38141 |
| Longitude of ascending node | 79.71105 |
| Argument of peri | 331.78284 |
| Geometric albedo | 0.1421 |
| Absolute magnitude (H) | 11.60 |
2904 Millman (1981 YB) is a main-belt asteroid discovered on December 20, 1981 by Ted Bowell at Flagstaff (AM).
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