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During the last year of The Next Generation , Taylor worked with Rick Berman and Michael Piller to develop the fourth Star Trek series , Star Trek : Voyager .
 Taylor, Rick Berman, Piller
Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: location, person, organization 
Text: {0} 
Answer:
 Taylor, Rick Berman, Piller