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Achika
    Achika is Tenchi's mother.  She died when Tenchi was very young so he was raised by his Grandfather and Father.  She does appear in the movie Tenchi Muyo! in Love when the gang travels back in time to save her.
Aeka
Aeka is the crown princess of Jurai.

OAV:  In the OAV she was to marry Yousho her half-brother/fiancee, but he left Jurai to chase the Space Pirate Ryoko.  She spent along time searching for him when she finally arrives on earth to find Ryoko.  She is ready to capture her, and does, but unfortunately the warrant for Ryoko's arrest expired on that very day.  With the destruction of her ship Ryouuh, Aeka is stranded, along with Sasami and Ryoko, at Tenchi's place.

TV Series:  In the TV Series Aeka was just passing by Earth when she recieved Mihoshi’s distress call.  She went to Earth where she found, her childhood nemesis Ryouko!  She is about to leave, but Mihoshi persuades (cries annoyingly) Aeka to stay.  She and Tenchi go out and look at the mountain side and she is completely taken by his sweet ways and instantly falls in love.  However, Ryouko provokes her more and they engage in battle.  The battle is pretty much even, but Ryouko convinces Aeka that Tenchi and she had taken a vow to die together.  This breaks Aeka’s heart and she rams right into Ryouko’s ship and they both crash to the ground, once again stranding everyone on Earth.  She jokes saying her time with Tenchi is a "vacation" from being a princess. 

Azaka and Kamidake
    These two are Aeka's Juraian guards and loyal servants.  Their chores range from horrid torture to doing the laundry that no one else wants to touch.
Kain
    Kain is the Class A1 criminal that is featured in the movie Tenchi Muyo! in Love.  He was captured a long time ago by the Juraian family, but he manages to escape several decades later and travels back in time to destroy the Juraian line.
Kiyone
Kiyone is Mihoshi's partner in the Galaxy Police.

OAV:  She is only a very minor character in the OAV (she's only in a Mihoshi side story).

TV Series:   She is a major character in the TV Series.  She is the most level headed of the Tenchi bunch, unless she's being pestered by Mihoshi of course.  In the TV Series she makes her appearance rejoicing about her partners disappearance when she is sent to Earth to investigate a distress signal.  She gets there only to find, you guessed it, Mihoshi.  Not only that, but Mihoshi is living with a famed space pirate (Ryouko) and a mad scientist (Washuu).  She wants to leave as soon as possible, unfortunately, the Galaxy Police assign her to live on Earth with Mihoshi.

Mihoshi
    Mihoshi is the perfect blonde ditz stereotype.  She is also a member of the Galactic Police (her grandfather is the commissioner).

OAV:  She was searching for the space pirate Kagato whens he slipped through a space bubble and got trapped on earth.  She also developed feelings for Tenchi when he saves her life at one time.

TV Series:  She was chasing after Ryouko and shot her down to earth.  She chased her in a mecca but was eventually defeated with Tenchi's help.  Ryouko starts chasing after both Mihoshi and Tenchi, but gives herself up because she admires Tenchi's bravery.  When Mihoshi is about to read Ryouko her rights off of her space pad, Ryouko destroys it.  Since Mihoshi can't remember the right rights to read, she starts crying and can't arrest Ryouko.  And since her ship is destroyed, she can't get home, but she sends out a faint SOS.

Nobuyuki
    Nobuyuki is Tenchi's father.  He is the same in both the OAV and TV Series, a complete pervert.  Picture this he comes in and finds his son in bed (just in bed, not naked or anything) with a beautiful young girl, you'd think that he'd have a long talk with him or something.  However Nobuyuki breaks out his camera, and starts taping!  He also has a large collection of girly comics.
Operative A / Lieutenant Trakal's
    Operative A is a star in Tenchi Muyo! in Love.  He was sent back in time to stop Kain, he also fights with Ryouko because he wants to work alone against Kain.
Ryo-oh-ki
Here we have Ryo-oh-ki.  When Aeka rammed Rouko and both ships were destroyed an egg appeared from the rubble of Ryouko’s ship.  From this egg came the adorable cabbit (half cat, half rabbit) Ryo-oh-ki.  She and Sasami are not only inseperable, but they are also the two most kawaii characters.  Ryo-oh-ki can also transform into the ship you see on the right.  She can also eat several times her weight in carrots, her absolute favorite food.  When Aeka, Sasami, and Mihoshi were leaving in Sasami’s ship Sasami found a carrot in her pocket.  When Ryo-oh-ki saw that on her sensors she flipped out and rammed into Sasami’s ship.  Once again stranding everyone on Earth. 
Ryouko
    Ryouko is a powerful girl with the ability to teleport, fly, walk through matter, shoot energy bolts, and create a staff of the same energy as her bolts.  She is a huge flirt and always messes with Tenchi and tries to seduce him.

OAV:  While under Kagato’s power she was forced to attack Jurai and Yoshou was sent after her.  She was finally caught on Earth and trapped in the cave next to the Masaki shrine.  She found that she could astroproject herself outside of the cave and see what’s going on, but not escape.  She developed a strong bond with Tenchi watching his life.  She was heartbroken when she heard Tenchi was moving away to the city.  So when he came back and accidently freed her from her prison, she was a little miffed so she attacked him for a while, but eventually started flirting with and seducing him.

TV Series:  Ryouko was being pursued by Mihoshi and crashed on Earth.  She convinced Tenchi that Mihoshi was a space pirate and so he helped her.  During the whole ordeal (and long after) she acted like they had been passionate lovers for years and saying things like, “Don’t you remember the vow we made to die together?” and “Ryo-oh-ki is Tenchi and I’s daughter!”

Sasami
    Sasami is Aeka's sister.  She and Ryo-oh-ki are the very best of friends and completely inseperable.  She is a marvelous cook and always has a kawaii and sweet personality.  There are basically two very small differences in Sasami between the OAV and Series.

OAV:  Sasami got to earth by stowing away on Aeka's ship.  Also she has romantic feelings for Tenchi.

TV Series:  Sasami got to earth because she was sent by Jurai to save Aeka from being stranded.  She also has pretty much no romantic feelings for Tenchi, but she is someone that Tenchi feels he can talk to about most things.

Tenchi
    Tenchi is, of course, the star of the show.  He was a typical high school student who spent summers at his grandfather's shrine and learned martial arts.  He is basically the same in both series only his adventures change.  He tries to avoid all the romantic encounters that keep on jumping out at him.
Washuu
    Washuu is the Universes's Greatest Genius, and one of my personal favorite Tenchi characters.

OAV:  She was forced to work for an evil space pirate named Kagato.  She was finally freed when Mihoshi went through a space bubble.  She is in love with Tenchi (surprise) and she's always trying to use him for experiments.  She believes she can make a powerful generation using his DNA.

TV Series:  She was trapped in a cave (the same cave Ryouko was trapped in in the OAV, only Washuu's the "demon" in the Series) and was freed when Ryouko pulls out the crystal that holds her to attack Aeka with.  In the Series she doesn't appear to have any romantic attachment to Tenchi.

Yoshou 
    Yoshou is the Juraian prince who left for earth and stayed for political reasons.  He got married and lived a happy life.  He is also Tenchi's grandfather.  Though he appears very old now, he is still one of the best fighters in the universe and can control the Sword Tenchi-ken (a sword with the ability to harness the power of the Juraian trees and make a light sword)
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