3902 Yoritomo
Encyclopedia
3902 Yoritomo is an outer main-belt asteroid
Asteroid
Asteroids are a class of small Solar System bodies in orbit around the Sun. They have also been called planetoids, especially the larger ones...

 discovered on January 14, 1986 by Takeshi Urata
Takeshi Urata
is a Japanese astronomer. He is a prolific discoverer of asteroids, observing at Nihondaira Observatory.In 1978 he became the first amateur to discover a minor planet in over fifty years. He named it after it his daughter, Mizuho. His pioneering feat led to an upsurge in such discoveries. In the...

 and Shigeru Inoda
Shigeru Inoda
is a Japanese astronomer.He has discovered a number of asteroids. Except for 3394 Banno, they were all co-discovered with Takeshi Urata. Asteroid 5484 Inoda is named after him.-References:...

 at Karasuyama.

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