Olaf Pooley, the British actor best known for his role as the evil Professor Stahlman in the 1970s cult TV series "Dr. Who: Inferno," died in Los Angeles on July 14, TMZ reported. He was 101 years old.

Pooley's death was caused by congestive heart failure, his family told StarTrek.com. They said he passed "peacefully" and he "managed to preserve his independence and dignity to the end, which is what he wanted."

He was also known for his role on the cult sci-fi show "Star Trek: Voyager," according to the Hollywood Reporter. Pooley appeared in the episode "Blink Of An Eye" (2000) as the Cleric, directed by his wife at the time, Gabrielle Beaumont.

The actor also enjoyed a career on the West End and earned roles in productions of "Twelve Angry Men," "The Tempest" and "Othello," according to Variety. He also served as a guest director at the prestigious Royal Academy of Dramatic Art in London.

Later in his career, Pooley picked up painting and became an artist in residence at Santa Monica Art Studios in California. In preparation for the Eight Annual Santa Monica Artwalk last year, Pooley was interviewed by ABC 7 Los Angeles on his 100th birthday. During the interview, Pooley was asked to give a piece of advice.

"To make up your mind, what you really feel you should do with your life," he said, "and then do it."