Penelope Gate

Penelope Gate was a human female who created a time machine. It's hinted that she is the Doctor's human mother.

Biography
The first time she successfully used her time machine, she used a lightning strike to charge it up. She travelled to 1996 where she obtained a mutated Tzun battery. She used that to power her machine. Penelope met the Seventh Doctor, who took her back to her own time of 1883. (NA: The Room With No Doors)

Later in her life she met Ulysses, whom she married. She moved to Gallifrey. Unbeknownst to the High Council, they had a son - ironically, the very same Doctor who had interfered in her time-travelling career before.

Penelope and Ulysses became friends with Mr Saldaamir, whom they frequently went exploring with. Penelope, Saldaamir and Ulysses also associated themselves with Lady Larna, who was from their future.

When the Time Lord Marnal threatened to expose Penelope's and Ulysses's activities, they used his TARDIS' telepathic circuits to wipe his memory and dumped him on Earth in England, 1883, to board with Penelope's mother. (EDA: The Gallifrey Chronicles)

When the Doctor was young, Ulysses and Penelope went on a trek in the mountains of Gallifrey with him. Ulysses and Penelope owned a summer house on the other side of Kasterborous to Gallifrey. (PDA: The Infinity Doctors)


 * It was unknown what happened to Penelope after this point, but she was not with her husband when he became a renegade and went to live on Earth. (EDA: Unnatural History)