The original question had to be edited. The concluding lines of the poem reflect how Ulysses shares the spirit of adventure with his mariners. Ulysses' closing lines speaks to this condition. It is a condition in which Ulysses has spoken of what might be discovered. Such explorations could reveal touching "the Happy Isles" or "see the great Achilles." Ulysses speaks of sharing this condition with his mariners. It is the condition of exploration and embrace of adventure without knowing the consequences.
The closing lines of the poem speak to a point in time where Ulysses and his mariners are old, approaching a point in their lives where they are closer to the end than the beginning. Yet, this should not deter them from their expressed purpose of being:
We are not now that strength which in old days/Moved heaven and earth; that which we are, we are;/One equal temper of heroic hearts,/Made weak by time and fate, but strong in will/To strive, to seek, to find, and not to yield.
This is the condition that Ulysses shares with his mariners. It is one in which time has challenged them and fate has take some of their initial youth. Yet, it is a being in which "heroic hearts" must prevail and for this reason, Ulysses and his men must engage on this quest, perhaps a final one, in which the drive "to strive, to seek, to find, and not to yield" is all there is.