Isekai no Seikishi Monogatari

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The story is set in an alternate world called Geminar, where countries have fought endless wars with replicas of humanoid Seikishi weapons that they found in ancient ruins. 15-year-old Kenshi Masaki, the half-brother of Tenchi Muyo! protagonist Tenchi Masaki, is summoned from another world to Geminar.
(Source: ANN)