In a four-decade career of stage, film and TV, Robert Ellenstein called the Star Trek family home thanks to two visits: as the first Federation President ever depicted, in ST IV,  and as Troi’s would-be father-in-law Steven Miller a year later in TNG’s “Haven.” Famous as the villain in the pilot of Moonlighting, he had dozens of other TV appearances over the years, and directed TV and taught acting. A native of Newark, N.J., Ellenstein died of natural causes in a Los Angeles nursing home at age 87 on Oct. 28, 2010.