Ulysses was a Time Lord explorer.
Biography
Ulysses was one of the first Time Lords to give himself a new name, which he picked from an Earth adventurer. It was on Earth that he married Penelope Gate, a human from 1883. Ulysses and Penelope were friends of Mr Saldaamir and the three of them often went exploring together. Ulysses, Saldaamir and Penelope also associated themselves with Lady Larna, who was from their future. Unbeknownst to the High Council, Penelope gave birth to a son, the Doctor.
When fellow Time Lord Marnal threatened to expose them, they used the telepathic circuits of his TARDIS to wipe his memory and dumped him on Earth in England, 1883 with Penelope's mother. (PROSE: The Gallifrey Chronicles)