Our Third Quiz, Where Are You?

A great entertainer died in 2005 named Julius Russell.  Better known to us young kids as Nipsey Russell.  The generation before us rarely saw black people on TV.  Nipsey Russell just had a way about him, made me smile. Anyway, Nipsey played a New York City Policeman in a great sitcom.  What was the name of the sitcom?  I can't forget the name Francis Muldoon even 50 years later.