The Tenchi Universe (TV Series)
This series is the first TV series.  It is seperated into two parts:  "On Earth" and" In Space" along with a middle section called "Time and Space Adventures".  For the first 5 episodes each character is introduced.  Tenchi, Father (Nobuyuki), Grandfather, Ryoko, and Mihoshi in the first; Ayeka, Azaka, and Kamidake in the second; Sasami and Ryo-ohki in the third; Wahsu in the fourth; and Keione in the fifth.  For the rest of the series, the gang faces foes like Nagi and Kin-ohki, Washu's experiments, and in the "In Space" section:  Kagato, Galaxy Police, and Jurai.  I would explain more but I do not want to spoil to much of the series.
Tenchi Muyo! and all other characters related with the anime are a trade mark and copyrighted by Pioneer Intertainment and AIC and any other respected owners.