Ulysses

Daniel Joyce, formerly Ulysses, was a Time Lord who became a professor on Earth. In his own personal timeline at least, he was the Doctor's father.

Biography
Ulysses was one of the first Time Lords to give himself a new name, which he picked from the mythology of Earth. It was on Earth where he married a human female called Penelope. Ulysses and Penelope were friends of Mr Saldaamir and the three of them often went exploring together often. Ulysses, Saldaamir and Penelope also associated themselves with Lady Larna, who was from their future. Penelope gave birth to a son by Ulysses, unbeknownst to the High Council. When fellow Time Lord Marnal threatened to expose them, they used his TARDIS' telepathic circuits to wipe his memory and dumped him on Earth in England, 1883 with Penelope's mother. (EDA: The Gallifrey Chronicles). Ulysses was also friends with Savar before he went on his mission to find Omega. (PDA: The Infinity Doctors)

Ulysses once watched a meteor storm with his son - the Doctor - on Gallifrey. (DW: Doctor Who)

Ulysses later left Gallifrey for Earth. On Earth, he adopted the name Daniel Joyce and lived in Berkeley, San Francisco where he married another human called Anne. At one point, Joyce became a professor and taught at Berkeley University. Sometime in the 1980s, Joyce assisted the Doctor with a danger related to the Advanced Research Project that Joyce was working for. Joyce later hired Larna as his assistant on the Project.

After the millenium he gave Proffessor Wagg a new beryllium chip to make up for the one that was stolen from him. In 2002, Joyce assisted the Doctor (whom he refered to as "son") in defeating Griffin and in closing a dimensional scar. (EDA: Unnatural History)

The Doctor was once told that his father's name was no longer Ulysses and was a professor at Berkeley University in the 21st century. (PDA: The Infinity Doctors)

Appearance
On Gallifrey, Ulysses was powerfully built with white hair and a clipped beard. (EDA: The Gallifrey Chronicles) On Earth, he had a tattoo indicating that he had once been imprisoned on Shada. He also had a short white beard and a Scottish accent. (EDA: Unnatural History)

Behind the scenes

 * In early scrips for DW: TV Movie, Ulysses was planned to be the name of the Doctor's father. The script of the film involved the Doctor searching for his father on Earth, where he had married a human who gave birth to the Doctor soon after. This was cut from the final script, leaving only a passing reference to the Doctor's father in its place. Lance Parkin utilised these ideas when he wrote EDA: The Gallifrey Chronicles.
 * It was commonly theorised among fans that Joyce was a later incarnation of Professor Chronotis, however this was later denied by writer Jonathan Blum.