Patent Publication Number: US-11643886-B2

Title: Geotechnical rig systems and methods

Description:
PRIORITY CLAIM 
     This application is a non-provisional patent application of U.S. provisional patent application 63/052,898 filed Jul. 16, 2020, titled Remotely Operated Unmanned Amphibious Geotechnical Drilling and Cone Penetration Testing (CPT) System (DOCKET GD-P-02). 
     This application claims the benefit of and/or priority to each of the foregoing patent applications and any and all parent, grandparent, and great-grandparent applications thereof. The foregoing patent applications are incorporated by reference in their entirety as if fully set forth herein. 
    
    
     FIELD OF THE INVENTION 
     This disclosure relates generally to geotechnical rig systems and methods. 
     BACKGROUND 
     Known methods for geotechnical investigation, sampling, or drilling include use of direct human to machine interaction on site. The present disclosure includes embodiments related to geotechnical rig systems and methods that overcome at least these deficiencies in the art, including embodiments that enable a range of geotechnical work to be carried out without the need for direct human interaction on site. 
     SUMMARY 
     Embodiments disclosed herein relate generally to geotechnical rig systems and methods. In one embodiment, a rig includes, but is not limited to, a frame configured to deploy a drill string; at least one docking base disposed on the frame; at least one carousel with one or more addressed slots to stow one or more components, the at least one carousel being releasably coupled to the at least one docking base; and at least one arm that is configured to controllably retrieve and/or position the one or more components. In another embodiment, a carousel includes, but is not limited to, one or more addressed slots to stow one or more components including at least: one or more drill casings, and one or more sample vessels, a funneled base configured to releasably couple to a docking station of a geotechnical rig; and a lift point configured for maneuvering the carousel. In a further embodiment, a vessel system for sampling includes, but is not limited to a vessel; a crane; a rig including at least: a frame, and at least one docking base disposed on the frame; a plurality of interchangeable carousels each with one or more addressed slots to stow one or more components and each being configured to exchangeably couple to the at least one docking base; and a shuttle that is configured to controllably retrieve and/or position the one or more components. 
     In one embodiment, a rig for cone penetration testing includes, but is not limited to, a frame; at least one cassette including at least one rotatable reel; at least one sensor; at least one movable roller; at least one drive system; and at least one tube having at least one cone penetration testing head, the at least one tube configured to be coiled about the at least one rotatable reel and extendably thrusted using the at least one drive system, wherein the at least one movable roller is configured to adjust a bend radius of the at least one tube based at least partly on data received from the at least one sensor. In a further embodiment, a cassette system for cone penetration testing includes, but is not limited to, at least one rotatable reel; at least one sensor; and at least one movable roller, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor. In another embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments are described in detail below with reference to the following drawings. 
         FIG.  1    is an environmental view of a geotechnical rig system deployed from a vessel, in accordance with an embodiment; 
         FIG.  2    is a perspective view of a geotechnical rig system, in accordance with an embodiment; 
         FIG.  3    is a side view of a geotechnical rig system, in accordance with an embodiment; 
         FIG.  4    is a top view of a geotechnical rig system, in accordance with an embodiment; 
         FIG.  5    is a front view of a geotechnical rig system, in accordance with an embodiment; 
         FIG.  6    is an exploded view of a geotechnical rig system, in accordance with an embodiment; 
         FIG.  7    is a top view of a geotechnical rig with an interchangeable carousel system, in accordance with an embodiment; 
         FIG.  8    is a front view of a geotechnical rig with an interchangeable carousel system, in accordance with an embodiment; 
         FIG.  9    is a side view of a geotechnical rig with an interchangeable carousel system, in accordance with an embodiment; 
         FIG.  10    is a top view of an interchangeable carousel system, in accordance with an embodiment; 
         FIG.  11    is a perspective view of an interchangeable carousel system, in accordance with an embodiment; 
         FIG.  12    is an exposed view of an interchangeable carousel system, in accordance with an embodiment; 
         FIG.  13    is a perspective view of a cone penetration rig, in accordance with an embodiment; 
         FIG.  14    is a top view of a cone penetration rig, in accordance with an embodiment; 
         FIG.  15    is a perspective partially exposed view of a cassette reel system for a cone penetration rig, in accordance with an embodiment; 
         FIG.  16    is a perspective view of a cone penetration rig, in accordance with an embodiment; and 
         FIG.  17    is a perspective view of a vessel with a cone penetration rig, in accordance with an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     This disclosure relates generally to geotechnical rig systems and methods. Certain embodiments are set forth in the following description and in  FIGS.  1 - 17    to provide a thorough understanding of such embodiments. 
       FIG.  1    is an environmental view of a geotechnical rig system deployed from a vessel, in accordance with an embodiment. A vessel system  100  includes, but is not limited to a vessel  102 ; a crane  104 ; a rig  106  including at least: a frame, and at least one docking base disposed on the frame; a plurality of interchangeable carousels  108  each with one or more addressed slots to stow one or more components and each being configured to exchangeably couple to the at least one docking base; and an arm  110  that is configured to controllably retrieve and/or position the one or more components. 
     In one embodiment, the vessel system  100  is used to implement a remotely operated rig  106 , such as an unmanned amphibious geotechnical drilling and sampling rig for soil investigation and/or sampling, at locations where direct human interaction is undesirable or not possible due to logistical or environmental constraints. 
     In one embodiment, the vessel  102  is a barge, ship, boat, platform, floating rig, and/or other similar surface or subsurface vessel. The vessel  102  includes at least one crane  104 , which is a mechanically, electrically, electromechanically, and/or engine/motor driven device for lifting, moving, lowering, or otherwise maneuvering one or more objects, including the one or more carousels  108 , the rig  106 , and/or an ROV  112 . The rig  106  can be connected to the vessel via an umbilical cord  114  for power and/or communication. 
     In one embodiment, the vessel  102  transports the one or more carousels  108 , the rig  106 , and/or the ROV  112  to a desired location in an ocean, sea, lake, or other body of water, whereby the crane  104  deploys the rig  106  and/or the ROV  112  into the water. One of the carousels  108  can be deployed with the rig  106  or separately from the rig  106 . The ROV  112  assists in the movement and/or positioning of the rig  106  from the vessel  102  to a seafloor, such as by using a guidewire  116  and/or heave compensation systems. The one or more carousels  108  can be transitioned from the vessel  102  to the rig  106  or from the rig  106  to the vessel  102  using the ROV  112 , the guide wire  116 , and/or and the crane  104 . The one or more carousels  108  include one or more tools, sample vessels, and/or one or more drill casings; therefore, the rig  106  can use the resources of one carousel  108  on the seafloor for purposes of drilling and/or sampling and the one carousel  108  can be interchanged with one or more additional carousels  108  from the vessel  102  to extend the capabilities of the rig  106  on the seafloor while operating within load constraints of the crane  104 , the ROV  112 , the guide wire  116 , heave compensation systems, and/or the umbilical cord  114 , for example. While on the vessel  102 , the carousels  108  are stackable on a deck, stowage compartment, and/or refrigeration unit, either before or after deployment on the rig  106 . Any of the foregoing operations can be under complete or partial autonomous control using a computer system, circuitry, and/or programming. Alternatively, some or all of the operations can be manually effectuated or assisted. 
     In another embodiment, the vessel  102  comprises a vehicle, terrestrial vessel, or subterrestrial vessel, usable on or above land, underground or within tunnels, in an underwater environment, on or below a seafloor, and/or on another planet or cosmic body. The vessel  102  is illustrated as a water-based vessel for example purposes only, but the vessel  102  can be any device or system usable to deliver or deploy the rig  106  and/or one or more carousels  108  to a desired terrestrial and/or subterrestrial location. In other embodiments, the rig  106  can position itself in any terrestrial and/or subterrestrial environment independent of the vessel  102 . In the embodiment where the vessel  102  comprises a ship, the vessel  102  can include a 120 ft work vessel with approximately 20 anchors and the crane  104 , operating to approximately 2-3 k meters depth. 
     In a further embodiment, the rig  106  comprises a geotechnical drilling and/or sampling rig that remotely operates on or below a terrestrial or subterrestrial surface, such as a seafloor and/or subseafloor. The rig  106  can include propulsion systems to facilitate independent movement or positioning. Alternatively, the rig  106  can be moved or positioned entirely or partly by another system or device, such as the ROV  112 . The rig  106  is configured to drill rock, clay, dirt, mud, or the like and/or obtain soil, solid, liquid, gas, and/or combination samples, using geotechnical drilling, sampling, and/or wireline techniques. For instance, a drill stick is driven into the surface using a combination of drill bits and casings with samples obtained using sample vessels. Wireline intervention can be utilized to interchange drill bits/tools and/or extend/retrieve sample vessels. 
     In certain embodiments, the rig  106  is at least partly enabled using the one or more carousels that are interchangeably coupled to the rig  106 , which can be independently deployed to the rig  106  and/or retrieved from the rig  106  as needed or required. Thus, the rig  106  can launch independently of any of the carousels  108  or with one carousel  108  initially present. The rig  106  uses tooling, sample vessels, and/or casings from one of the carousels  108  to initiate, establish, or extend a drill stick and/or obtain a series of depth samples. The rig  106  can return sample vessels to the carousel  108 , and the carousel  108  can be removed from the rig  106 . The rig  106  can use additional carousels  108  to further extend, build, or deploy a drill stick and/or obtain additional samples, such as to an approximate depth of 75 to 100 meters or more. The extensibility of the rig  106  remotely is therefore provided while maintaining a smaller footprint and/or lower weight of the rig  106  itself. 
     In one embodiment, the ROV  112  transports the carousels  108  from the vessel  102  to the rig  106 . The ROV  112  attaches to a lift point on the carousel  108  using assistance from the crane  104  and guides carousel  108  to the rig  106 . The ROV  112  can be any robot or remote/automated controllable device, such as a LARS. However, it is contemplated that the one or more carousels  108  can be self-guided under independent propulsion to and/or from the rig  106  without requiring use of the ROV  112 . Alternatively, the crane  104  or guide wire  112  can optionally be used to transport the one or more carousels  108  to and/or from the rig  106 . In certain embodiments, the ROV  112  is a terrestrial vehicle or system that delivers and retrieves the one or more carousels  108  from a staging location and the rig  106 . The staging location can include a vehicle, platform, container, climate-controlled unit, refrigeration unit, or the like. For instance, the rig  106  can be deployed to a mine or tunnel location and the ROV  112  can run exchanges of the carousels  108  from a staging container at or proximate to a mine entrance. 
     In certain embodiments, the one or more carousels  108  are staged or stored on a deck or surface area of the vessel  102 . Optionally, one area of the deck or surface area of the vessel  102  is used for one or more carousels  108  ready for deployment to the rig  106  and a different area of the deck or surface area of the vessel  102  is used for one or more carousels  108  that have been returned from the rig  106 . The ready-for-deployment carousels  108  include casings, vessels, and/or tools for extending a drill string of the rig  106 . The returned or consumed carousels  108  include sample vessels associated with various depths, unused casings, and/or or returned tools. The carousels  108  are configured to be stackable with one another to conserve staging and/or storage space. For instance, the carousels  108  can include a flat bottom surface area that rests upon another of the carousels  108 . Alternatively, a male/female mechanical coupling can be provided between adjacent carousels  108  to limit or prevent movement or shifting. Additionally, the portion of the carousels  108  can operate in conjunction with one another to define a space for containing a stacked carousel  108 , such as in a pyramid type arrangement as illustrated. The carousels  108  may be confined using one or more frames to prevent or limit movement or shifting. 
     An optional refrigeration or climate-controlled container  118  is usable on the vessel  102 , which container  118  is configured to receive and/or store one or more carousels  108  containing one or more sample vessels. The carousels  108  are stackable within the container  118  to preserve the sample vessel contents for testing and/or evaluation. The container  118  is programmed to maintain a specified temperature and/or humidity level or range. For instance, the container  118  is configured to maintain a sub-zero C temperature range to freeze any sample vessel contents. The container  118  includes an openable/closable roof or side portion to permit the lowering, sliding, driving, pushing, and removal of the carousels  108  using the crane  104  or other tug or vehicle device. 
     The vessel system  100  is exemplary and can be configured in a variety of ways. The crane  104  can be omitted or substituted with another lifting or hoist mechanism. The crane  104  can be movable and/or differently located on the vessel  102 . Likewise, it is contemplated that a plurality of cranes  104  can be utilized for backup redundancy or to increase efficiency. Multiple rigs  106  and/or ROVs  112  can also be utilized to enable backup redundancy or to increase efficiency, such as by enabling simultaneous drilling and sample operations at one or more different sites. 
       FIG.  2    is a perspective view of a geotechnical rig system, in accordance with an embodiment. In one embodiment, a rig  106  includes, but is not limited to, a frame  202  configured to deploy a drill string; at least one docking base  204  disposed on the frame  202 ; at least one carousel  108  with one or more addressed slots  206  to stow one or more components, the at least one carousel  108  being releasably coupled to the at least one docking base  204 ; and at least one arm  208  that is configured to controllably retrieve and/or position the one or more components. 
     In certain embodiments, the frame  202  is a structure composed of metal, fiberglass, carbon fiber, natural, synthetic, and/or composite material. The frame  202  provides support for the drill string and/or carousel  108  and includes at least one support member. The frame  202  can be configured as a sphere, cube, pyramid, square, circle, rectangle, or other similar geometric structure. Alternatively, the frame  202  can be a platform or a deck. In one particular embodiment, the frame  202  includes a mast  210  that extends substantially perpendicularly to support and/or protect the drill string and/or related components. The mast  210  forms a pyramidal, rectangular, cubical, cylindrical, or other similar structure that is at least partly open and/or exposed for accessing the drill string, for example. The mast  210  can be fixed or extensible and may be removable or omitted entirely from the frame  202 . In certain embodiments, the frame  202  includes a plurality of masts  210 . The frame  202  can be extensible or joinable with a plurality of additional frames  202  to provide an adjustable size, shape, and/or footprint. Additionally, the frame  202  can include one or more mounting points to attach and/or detach one or more components discussed herein, such as the mast  210 , the docking base  204 , the drill string, or the like, which can enable flexible customization of the rig  106 . 
     In some embodiments, the rig  106  and frame  202  are configured to rest directly on a seafloor, ground surface, other terrestrial or subterrestrial area, or cosmic body. One or more stands or support members are also contemplated, which one or more support members can be length or angularly adjusted for accommodating irregular surface features and/or leveling the rig  106 . The one or more stands or support members can be located in or proximate to one or more corners of the frame  202 . Additionally, the one or more stands or support members can be disposed along one or more edges of the frame  202  or positioned underneath the frame  202 . In one particular embodiment, the rig  106  includes a propulsion system  212 , such as an electric, gasoline, diesel, hybrid, or other similar engine or motor driven system. The propulsion system  212  is configured to enable the rig to be remotely and/or autonomously positioned, repositioned, deployed, recaptured, moved, or the like. One specific type of the propulsion system  212  includes a continuous track propulsion system, but one or more metal or rubber wheels or tires are also contemplated. Additionally, the rig  106  may include a passive mobilization system, such as rollers, wheels, or tracks that are not engine or motor actuated. Instead, the rig  106  can be pulled, pushed, or otherwise manipulated using a tow or tug device, such as an ROV, vehicle, ship, stationary rig, and/or other system or device. The passive mobilization system can be engaged and/or disengaged using mechanical, electromechanical, or electrical systems to switch between mobile and immobile fixed modes. 
     In one embodiment, the rig  106  includes an umbilical cord  114  for remote power, communication, control, data, and/or physical tethering. For instance, the rig  106  can be connected to the vessel  102  via umbilical cord  114 . The umbilical cord  114  in this context is retractably deployed as the rig  106  is lowered to the seafloor, for example. However, it is conceived that the umbilical cord  114  can be functionally altered and/or omitted. For example, the umbilical cord  114  may provide tethering functions whilst communication is handled wirelessly. Alternatively, power may be provided to the rig  106  via an onboard or nearby battery whilst the communication and tethering is handled via the umbilical cord  114 . The rig  106  may be independent of any umbilical cord  114 . 
       FIG.  3    is a side view of a geotechnical rig system, in accordance with an embodiment. In one embodiment, a rig  106  includes, but is not limited to, a frame  202  configured to deploy a drill string; at least one docking base  204  disposed on the frame  202 ; at least one carousel  108  with one or more addressed slots  206  to stow one or more components, the at least one carousel  108  being releasably coupled to the at least one docking base  204 ; and at least one arm  208  that is configured to controllably retrieve and/or position the one or more components. 
     In one embodiment, the rig  106  is configured to deploy a drill string  302 , which is composed of one or more segment casings  308  and/or a drill head  306 . The rig  106  includes a rotational drive system  304  to forcibly thrust, rotate, and/or retract the drill string  302  and/or drill head  306  to enable drilling and/or sampling in a seafloor, subseafloor, terrestrial surface, terrestrial subsurface, or other cosmic body, thereby allowing for sample collection in nearly any hard or soft ground formation, such as ultra-soft silts, soil, rock, clay, mud, or the like. Sampling can be accomplished via the drill string  302  using traditional wireline intervention methods using any of the following devices: push sample, piston sample, core barrel, tube sample, vented tube, Shelby tube, and/or non-coring assembly cap. In addition to physical sampling the rig  106  can deploy a range of data collection tools such as CPT, 5-15 cm 2  Cones, Ball Cone, T-bar, Pizo Probe, Gama, seismic, and the like. As such, the rig  106  provides up to a full spectrum of down hole tooling, drilling, and/or sampling with wireline intervention and/or stick drilling methods. 
     In certain embodiments, the drill string  302  is approximately 2 meters to 150 meters in length, but may be longer, shorter, and/or extensible. The drill string  302  is composed of a plurality of the segment casings  308  with each segment casing screwing via threads into an adjoining casing to enable an increase or decrease of an overall length of the drill string  302 . In many embodiments, approximately 30 casings to 60 casings are included in a single drill string  302 . Each segment casing  308  is approximately 1 m to 3 m in length, such as 2 m, but other lengths are possible. The casings  308  are typically formed from metal, such as metal piping, and the drill string  302  is hollow due to the segment casings  308  being hollow, but solid and/or semi-solid portions of the drill string  302  are within the scope of the disclosure. The diameter of the drill string is typically approximately between 2 inches and 8 inches, such as between 2 inches and 4 inches, but other diameters are within the scope of the present disclosure. 
     In one embodiment, the drill head  306  is disposed on a leading portion of the drill string  302  and is configured to support and/or incorporate a drill bit and/or non-coring assembly cap. The drill bit can include diamond and/or sawtooth type bits, or other bits, and can be interchanged, installed, or removed via known techniques such as wireline intervention. The drill bit can be approximately 2 inches to 8 inches in length, such as 5 to 6 inches in length, but other sizes are within the scope of the present disclosure. 
     In one embodiment, the arm  208  is configured to facilitate operations involving the carousel  108  and the drill string  302 . The arm  208  can be movable, extensible, rotatable, retractable, or otherwise fixed or movable. In certain embodiments, the arm  208  includes a shuttle head  310  that travels along or with the arm  208 , such as along or with a series of extensions, a beam, channel, or other member. The shuttle  310  head can be movable, extensible, retractable, rotatable and/or can include a friction, fingers, claps, or pressure grip mechanism to releasably pickup one or more components. In certain embodiments, the carousel  108  is configured with one or more indexed slots to store and receive any of tooling, sample vessels, or segment casings  308 . The carousel  108  rotates to expose any of the one or more indexed slots to the arm  208  and/or shuttle head  310 . The carousel  108 , the arm  208 , and/or shuttle head  310  operate under automated and/or remotely controlled instructions without requiring manual direct in-person intervention, to perform operations including installation and removal of segment casings  308  from the drill string  302 , deployment and withdrawal of sample vessels, and/or installation or removal of tooling. For instance, the shuttle head  310  can extend to a programmed or user-defined position and drop or catch a component from the carousel  108 . The shuttle head  310  can then return to a position over the drill string  302 . The shuttle head  310  can drop or install the component into or on the drill string  302 . Other operations and techniques are further described herein. 
       FIG.  4    is a top view of a geotechnical rig system, in accordance with an embodiment. In one embodiment, a rig  106  includes, but is not limited to, a frame  202  configured to deploy a drill string  302 ; at least one docking base  204  disposed on the frame  202 ; at least one carousel  108  with one or more addressed slots  206  to stow one or more components, the at least one carousel  108  being releasably coupled to the at least one docking base  204 ; and at least one arm  208  that is configured to controllably retrieve and/or position the one or more components. 
     In one embodiment, the carousel  108  includes a plurality of addressed or indexed slots  206 . The slots  206  are cavities, tubes, boxes, depressions, boundaries, containers, and/or other spaces for presenting and/or storing one or more components at one or more known positions. Each of the slots  206  are addressed, indexed, plotted, marked, or otherwise identifiable. For instance, the slots  206  may each be identified by a Cartesian coordinate to its center relative to a starting or relative point. Alternatively, each slot may be identified by a number of stepper or other motor increments from a starting or relative point. Because the carousel  108  rotates in certain embodiments relative to the docking base  204 , another option is for each slot to be identified by a rotational degree or increment plus a radius distance from center or equivalent. Whichever addressing or identification scheme is selected, the slots  206  are in some embodiments identifiable to enable access to and/or depositing of components therein. Thus, the addressing or identification of the slots  206  include two and/or three dimensions with rotation as an optional fourth dimension. 
     In other embodiments, each of the carousels  108  can be identical, individualized, or identifiable by group or category, with different arrangement, positioning, sizes, or orientations of the slots  206 . In the case of individualized or group/category type carousels  108 , a marking, RFID-type tag, beacon, or other indicia can be used to identify the type and/or determine the appropriate addressing or identification system for the particular carousel  108 . A camera, beacon scanner, barcode reader, or other sensor is configured to read the indicia and a processor uses the data retrieved to match up with the carousel type to determine the matching schema for addressing or identification. 
     In one particular embodiment, the carousel  108  can be indexed or keyed to the docking base  204  to establish the slots  206  in the addressing or identification system. In one particular embodiment, the carousel  108  includes a calibration point to establish, confirm, or adjust the starting position or relative position for the addressing or identification system. 
     In further embodiments, the carousel  108  is configured to rotate about a center axis to turn relative to the docking base  204  and/or the frame  202  of the rig  106 . The arm  208  includes the shuttle head  310  that traverses between the drill string  302  along a path toward a center of the carousel  108 . The carousel  108  rotates relative to the arm  208  and/or the shuttle head  310  enabling access by the shuttle head  310  to the slots  206 . Alternatively, the arm  208  can include a robotic arm that moves in two and/or three dimensions with a pickup head that can reach one or more of the slots  206 . In this embodiment, the carousel  108  may be fixed, rotatable, or partially movable as the robotic arm can provide additional range of movement and access. The arm  208  is depicted as mounted and extends from the frame  202 , but it is also contemplated that the arm  208  can be mounted to the carousel  108  and extend toward the drill string  302 . In this particular embodiment, the arm  208  can rotate from a center or edge position of the carousel  108  and traverse radially to the one or more slots  206 . 
     In various embodiments, the components presented, maintained, or stowed in the slots  206  can include any one or more of drill casings segments, sample vessels, drill bits, and/or tools that are usable for drilling, sampling, or otherwise investigating formations or material. Each of the slots  206  can include a single component or a plurality of components. Also, each of the slots  206  can be dedicated to particular component or the contents of the slots  206  can change during the course of operation of the rig  106  during a particular mission, such as when stick drilling advances and samples are obtained. The arrangement of the slots  206  can include a radial pattern of concentric circles, a grid, one or more rows, or another regular or irregular pattern. Additionally, the slots  206  can be differently positioned and/or accessible, such as vertically, horizontally, obliquely from a top, bottom, inside, and/or side of the carousel  108 . 
     In operation, for example, the carousel  108  has slots  206  that are loaded with casings, sample tubes, drill heads, drill bits, caps, vessels, tools, and/or components. The carousel  108  is then lowered onto the docking base  204 . The shuttle head  310  moves to computer addresses associated with the slots  206  with the carousel  108  rotating to facilitate access to the slots  206 . The shuttle head  310  picks up one or more components and retrieves such for installation or deployment to or within the drill string  302 . Likewise, the shuttle head  310  returns one or more components, such as material samples at different known depths, back to the carousel  108  into one or more addressed slots  206 . The carousel  108  rotates therewith to receive the returned components into particular slots  206 . The consumed carousel  108  with any returned components, such as sample tubes, is then removed from the docking base  204  and returned for restocking and/or further processing. Computer memory or data transmissions are maintained or made to record provenance data for the one or more slots  206 , including, for example, content identification, date and time stamp, depth of any associated sample vessel or tube, temperature or climate information, pressure relief or venting actions taken, or other useful information for future investigation and/or analysis. 
       FIG.  5    is a front view of a geotechnical rig system, in accordance with an embodiment. In one embodiment, a rig  106  includes, but is not limited to, a frame  202  configured to deploy a drill string  302 ; at least one docking base  204  disposed on the frame  202 ; at least one carousel  108  with one or more addressed slots to stow one or more components, the at least one carousel  108  being releasably coupled to the at least one docking base  204 ; and at least one arm  208  that is configured to controllably retrieve and/or position the one or more components. 
     In certain embodiments, the at least one arm  208  is configured to attach and/or remove one or more drill casings on the drill string  302 . The drill string  302  includes a drill head and a drill stick that is composed at least in part from the one or more drill casings. The drill string  302  can extend anywhere from approximately 1 meter to approximately 150 meters or more into a terrestrial, subterrestrial, or cosmic body or subsurface from the rig  106 . The rotational drive  304  is configured to apply torque to the drill string  302  to facilitate thrusting and/or retraction of the drill string  302  into the surface or subsurface. In one particular embodiment, the drill string  302  is fully or partly buildable and/or extensible by the rig  106 ; likewise, the drill string  302  is fully or partly deconstructable and/or reducible by the rig  106 . This modularity is accomplished at least in part by the casings being removably coupled or joined to adjoining drill casings, with the lead casing being coupled or joined to the drill head. Mating threads are used to screwably join the drill casings and the drill head although a different fastening mechanism is within scope of the present disclosure. A supply of casings is provided by the carousel  108  using the arm  208  and/or the shuttle head  310  to install the casings on the drill string  302 . Likewise, when deconstructed, the casings are removable from the drill string  302  and deposited to the carousel  108 . Because the carousel is removable, refillable, exchangeable, and/or interchangeable, an overall length of the drill string  302  is not substantially limited except by other constraints, such as motor or drive torque. In operation, the shuttle head  310  extends to the carousel  108  to retrieve a casing and returns the casing to an end of the drill string  302 . The shuttle head  310  can rotate and/or the rotational drive  304  can rotate to facilitate installation of the casing onto the drill string. A reverse sequence of operations is implemented to break down and/or deconstruct the drill string  302 . For instance, the shuttle head  310  can secure to an end of the drill string and rotate, or the rotational drive  304  can rotate, to back off a casing from an end of the drill string  302 . The shuttle head  310  can return the casing to the carousel  108 . 
     In a further embodiment, the at least one arm  208  is further configured to extend or retrieve one or more sample vessels via the drill string  302 . The drill string  302  is at least partly hollow when constructed to enable deployment of sample vessels to the drill head and retrieved therefrom for sample collection at particular depths. The sample vessels can include tubes or other containers and can be lowered and/or retrieved using typical wireline intervention techniques, with check valves or vents provided as needed. In addition to physical sampling, the rig  106  can deploy a range of data collection tools such as CPT, 5-15 cm 2  Cones, Ball Cone, T-bar, Pizo Probe, Gama, seismic, and the like to provide up to a full spectrum of down hole tooling, drilling, and/or sampling. A particular sample vessel can be served empty by the carousel  108  with the shuttle head  310  extending via the arm  208  to pick-up the sample vessel from one or more slots. The sample vessel can then be deployed whereby the shuttle head  310  positions the sample vessel for release through the drill string  302 . A filled sample vessel can be similarly returned from the drill string  302  to the carousel  108  using the shuttle head  310 . The sample vessels can be stored in a configured and/or programmed arrangement to facilitate identification of an order and/or a depth associated with a sample contained within the sample vessel. Because the carousel is exchangeable, interchangeable, and/or retrievable before, during, or after operation of the rig  106 , the sample vessels can be collected to enable more detailed investigation and/or analysis. A stocked carousel  108  with filled vessels can be removed from the docking base  204  and replaced with a new carousel  108  having empty sample vessels to continue the sample process as the drill string  302  progresses. 
     In certain embodiments, the sample vessels and the casings are configured to share a single slot in the carousel  108  to conserve space. For instance, the sample vessel is positioned inside the casing within one slot to enable the casing or the sample vessel to be removed and/or returned independently. In operation, the casing is retrieved by the shuttle head  310  and installed on the drill string  302 . Subsequently, the sample vessel from the same slot is retrieved by the shuttle head  310  and deployed via the drill string  302  for sample collection. The sample vessel with content from a particular drill depth can be returned to the carousel  108  and positioned in the same slot. This ordered sequence of operations is repeated as required. 
     In other embodiments, one or more tools can occupy one or more slots of the carousel  108  or can be positioned elsewhere on the rig  106 . The shuttle head  310  extends via the arm  208  to capture a particular tool and introduce the tool to the drill string, whereby it can be lowered for use, installation, or operation as required, such as using wireline intervention techniques. The shuttle head  310  can return the tool to the carousel  108  or other position on the rig  106 . The replaceability and/or exchangeability of the carousel  108  enables introduction of tooling to the rig  106  while the rig  106  is remotely situated and/or in operation. 
     No direct human or in-person presence is required on the rig  106  to exchange a carousel  108 , extend or reduce the drill string  302 , deploy or retrieve sample vessels, and/or implement or install tooling. The rig  106 , shuttle head  310 , arm  208 , carousel  108 , rotational drive  304 , and other referenced components can operate automatically or under remote control or using program instructions, computer circuitry, storage memory, and/or a network or a wireless interface. Operation of the rig  106 , shuttle head  310 , arm  208 , carousel  108 , rotational drive  304 , and other referenced components can be recorded, stored, and/or transmitted for remote real-time or delayed analysis using the computer circuitry, storage memory, and/or network or a wireless interface. 
       FIG.  6    is an exploded view of a geotechnical rig system, in accordance with an embodiment. In one embodiment, a rig  106  includes, but is not limited to, a frame  202  configured to deploy a drill string  302 ; at least one docking base  204  disposed on the frame  202 ; at least one carousel  108  with one or more addressed slots  206  to stow one or more components, the at least one carousel  108  being releasably coupled to the at least one docking base  204 ; and at least one arm  208  that is configured to controllably retrieve and/or position the one or more components. 
     In one embodiment, the frame  202  is configured to be stationary without a propulsion system. The frame  202  includes one or more frame lift points  604  that are usable to lower, lift, set, reposition, and/or move the rig  106  using a crane, hoist, ROV, or other external load supporting system, device, vessel, or vehicle. The frame  202  can be deposited on another platform, vehicle, or vessel to enable mobility. Alternatively, the frame  202  can be positioned directly on a terrestrial, subterrestrial, or cosmic body impendent of any vehicle or vessel. In certain embodiments, the frame  202  includes legs or supports, which can be pivotable, angled, or adjustable to accommodate irregular features and/or assist in leveling the rig  106 . The frame  202  is usable in conjunction with one or more anchors to prevent and/or limit movement or shifting of the rig  106 . 
     In one particular embodiment, the frame  202  includes the docking base  204  which is configured in a conical and/or funnel shape to removably receive the carousel  108 . The carousel  108  is removable and/or positionable on the docking base  204  using an alignment mechanism to initialize the carousel to a correct rotational orientation relative to the docking base  204 . The alignment mechanism can include a key, male/female interconnection, ball sockets, a magnetic system, and/or calibration markings or indicia. The carousel  108  snaps, locks, or latches automatically when lowered onto the docking base  204 , such as when in the correct alignment. The carousel  108  can be removed from the docking base  204  using wireline intervention or another electromechanical or mechanical release system. Other forms of the docking base  204  are contemplated and within the scope of the present disclosure. These include a rotational platform, threaded platform, a post and/or socket, a suspension arm or coupling, one or more wheels or bearings, or another mechanism that facilitates removable positioning of the carousel  108  onto the frame  202 . 
     In some embodiments, the carousel lift point  602  is configured as a hook, eyelet, ring, slot, or other point to attach a load support device, system, line, or object for lifting, lowering, maneuvering, twisting, or otherwise manipulating the carousel  108  independent of the rig  106 . The lift point  602  can be positioned on a bale or other extension projecting from a medial or center area of the carousel  108 . Alternatively or additionally, the carousel  108  can include one or more perimeter, edge, side, or bottom mounting points. The lift points  602  can include a cable, line, rope, or other flexible extension. Maneuvering points, lines, and cables are also within the scope of the present disclosure. The rig  106  can be lowered and installed with less weight and/or load, with or without an initial carousel  108  present. Subsequently, during operation of the rig  106 , a sequence of carousels  108  are separately or independently lowered for staging or immediate installation on the docking base  204 . The components of the carousel  108  are consumed and/or used by the rig  106  as needed. Thereafter, consumed or refilled carousels  108  can be separately retrieved and removed from the docking base  204  and replaced with new and/or replenished carousels  108 . 
     In further embodiments, the docking base  204  is configured to rotate in a clockwise and/or counterclockwise manner using an electric, hydraulic, gasoline, diesel, electromagnetic, or other type of system, motor, or engine. The docking base  204  can optionally shift, project, rescind, or otherwise move in one or more various other dimensions. A computer processor, circuitry, computer program instructions, storage memory, communication or network interface, and/or other electronic components are used to implement, select, and/or execute specific movements and/or rotations of the docking base  204  to effectuate positioning of the carousel  108 . Optionally, the carousel  108  can be configured to rotate in a clockwise and/or counterclockwise manner using an electric, hydraulic, gasoline, diesel, electromagnetic, or other type of system, motor, or engine that is incorporated within the carousel  108 . In this embodiment, a computer processor, circuitry, computer program instructions, storage memory, communication or network interface, and/or other electronic components are used to implement, select, and/or execute specific movements and/or rotations of the carousel  108  relative to the docking base  204  to effectuate positioning of the carousel  108 . 
       FIGS.  7 - 9    are top, front, and side views respectively of a geotechnical rig with an interchangeable carousel system, in accordance with an embodiment. In one embodiment, a rig  106  includes, but is not limited to, a frame  202  configured to deploy a drill string  302 ; at least one docking base  204  disposed on the frame  202 ; at least one carousel  108  with one or more addressed slots  206  to stow one or more components, the at least one carousel  108  being releasably coupled to the at least one docking base  204 ; and at least one arm  208  that is configured to controllably retrieve and/or position the one or more components. 
     In certain embodiments, a process or system for carousel exchange is provided. To begin, the rig  106  is positioned at a remote terrestrial or subterrestrial site without a carousel  108 ; although an initial carousel may be installed with the rig  106 . One or more operators is not required to physically man the rig  106  and can remain offsite from the rig  106 , such as on a remote vehicle, vessel, or at another location. One or more carousels  108  are similarly maintained offsite from the rig  106  and transitioned to the site of the rig  106  for loading via the docking base  204  using an unmanned vehicle such as an ROV. The carousels  108  provide tooling, sample vessels, casings, drill bits, or other components that are usable by the rig  106 . The arm  208  and/or shuttle head  310  operate between a carousel  108  and the drill string  302  to extend and/or collapse the drill string  302 ; remove, deploy, and/or exchange tooling from the drill string  302 ; deploy and/or retrieve sample vessels from the drill string  302 ; install and/or activate sensors or devices with the drill string  302 ; or perform other operation as described herein. Subsequently, a consumed or used carousel  108  is removed from the rig  106  and optionally replaced by another carousel  108  to restock the rig  106 . The rig  106  can continue at the remote site to perform sampling, investigation, drilling, and/or other geotechnical operations while continually being replenished and/or restocked with one or a series of carousels  108 . A consumed or used carousel  108  that is removed from the rig  106  can be transitioned offsite from the rig  106 , such as back to a remote vehicle, vessel, or other locale, whereby the carousel  108  can be stored, such as in a climate controlled container, used for scientific or research purposes, restocked, repaired, and/or used for other technical operations. 
     In some embodiments, the drill string  302  is partially established with one or more initial casings  308  and a drill head  306  that extend via the rotational drive  304 . The shuttle head  310  is then able to extend the drill string  302  using one or more casings  308  picked up from the carousel  108 , such as by screwing a new casing  308  onto an established casing  308  with the rotational drive  304  advancing the drill string  302 . 
     In further embodiments, the carousel  108  is lowered, raised, transitioned, and/or retrieved using support from an external vehicle or vessel, such as a crane, guide wire, or unmanned vehicle. Alternatively, the carousel  108  can include a propulsion system such as wheels, continuous track wheels, jets, releasable ballasts or weights, or another motorized system. The carousel  108  can guide itself to and/or from the rig  106  using computer programmed autonomous instructions or remote control operations. 
     In additional embodiments, the rig  106  includes a plurality of docking bases  204  and is configured to include a plurality of carousels  108  mounted on the rig  106  at any given time. The docking bases  204  can operate on a turntable to rotate different carousels  108  into active position with each carousel being rotatable relative to a traversing shuttle head  310 . 
     In yet a further embodiment, the carousel  108  can be differently mounted relative to the rig  106 . For instance, the carousel  108  can be positioned on its side and rolled to expose different slots to the shuttle head  310 . Alternatively, the carousel  108  can be fixed and the arm  208  can be a robotic arm with additional range of movements to pick up components from virtually any fixed location on the carousel  108 . The carousel  108  can optionally include one or more inner compartments or a stacked set of carousels  108  with the inner compartments that are exposable to provide access to additional slots and/or components. 
     In another embodiment, a sleeve composed of a plurality of stacked or otherwise joined carousels  108  can be utilized during migration or transitioning to and/or from a site of the rig  106 . The sleeve is placed proximate to the rig  106  to stage the carousels  108 . Individual carousels  108  can be moved from the sleeve to the rig  106  for use. Subsequently, a set of consumed carousels  108  can be returned or retrieved from the site of the rig  106  as a sleeve. 
     In yet another embodiment, the carousel  108  is not required to dock on the rig  106  and instead floats, rests, hangs, or is otherwise disposed nearby the rig  106 . The arm  208  can retrieve and/or return one or more components from the carousel  108 . In one particular embodiment, the carousel includes a vacuum, pressure tube, and/or guide system that drops, feeds, returns, or otherwise exchanges vessels, casings, and/or tooling to the drill string  302  without requiring an arm  208  or shuttle head  310 . 
     In alternative embodiments, the shuttle head  310  uses one or more finger grips, an electromagnetic pickup, suction, pressure, a hook, a ball joint, a mating flange, projection, recess, compression, friction, and/or other mechanical, electrical, or electromechanical enabled interface to pick up and/or drop one or more components to/from the carousel  108  or to/from the drill stick. 
     In various embodiments, certain technological advantages are yielded. To begin, a rig  106  can be deployed with reduced weight and/or inventory items, which can be an advantage in seafloor or cosmic body investigation where weight considerations are important. A series of carousels  108  are used to removably deliver required components in parallel, series, and/or sequentially to provide extensibility to the rig  106 . Further, the rig  106  can extend to investigation depths that are deeper with a virtually limitless extensibility of a drill string  302 , bound by external constraints such as motor torque. Additionally, the carousel content selection can be adjusted based on needs and requirements for a mission and can be changed or modified in an event of an unexpected circumstance. Also, the sample vessels are used to perform scientific analysis and the contents can require timely climate control for preservation. An entire carousel loaded with sample vessels can be retrieved from the rig  106  and quickly moved or stacked with another carousel inside a climate controlled container. Many other advantages are apparent in various disclosed embodiments. 
       FIGS.  10  and  11    are top and perspective views of an interchangeable carousel system, in accordance with an embodiment. In one embodiment, a carousel  108  for a geotechnical rig includes, but is not limited to, one or more addressed slots  206  to stow one or more components including at least: one or more drill casings  308 , and one or more sample vessels, a funneled base configured to releasably couple to a docking station of a geotechnical rig; and a lift point  602  configured for maneuvering the carousel  108 . 
     In one embodiment, the carousel  108  is substantially cylindrical with a central core  1002  surrounded by slots  206 . The central core is approximately ⅕ to 2 meters in diameter and the slots  206  extend to a range of approximately ⅕ to 2 meters beyond the central core  1002 . The carousel is approximately ⅕ to 3 meters in height. The slots  206  are rigid tubes or pipes that are approximately 2 to 6 inches in diameter and approximately 1 to 3 meters in length, such as metal tubes that are approximately 4 inches in diameter and 2 meters in length. The slots  206  are disposed in a concentric circular pattern peripheral to the inner core  1002  with approximately 1 to 5 radials of the slots  206 . Many other sizes and dimensions of the carousel  108 , central core  1102 , or slots  206  are possible. The slots  206  can be loosely disposed within the carousel  108  and/or welded or otherwise fixedly bonded or joined to adjacent slots  206 . One or more fasteners  1102  reinforce and/or retain the slots  206  from a perimeter of the carousel  108 , which may include a surface with apertures for the slots  206 . The slots  206  are each associated with an address, position, coordinate, or other location that is usable for selectable pickup by the rig  106  of a component therein. The slots  206  are sized and/or shaped to stow any one or more of: drill head, drill bit, diamond bit, saw tooth bit, drill stick casing  302 , sample vessel, push sample, piston sample, core barrel, tube sample, vented tube, Shelby tube, non-coring assembly cap, or other tool, component, sensor, or device. The central core  1002  is constructed of metal, wood, composite, and/or other durable material to maintain the slots  206  in position, serve as a docking receptacle to the docking base  204 , and/or anchor the lift point  602  for maneuvering the carousel  108 . The docking receptacle is further disclosed and illustrated in  FIG.  12   . The lift point  602  is an eyelet, ring, hook, fastener, or other connection point that projects vertically approximately ⅕ to 3 meters to connect to a crane, ROV, guide line, or other lift device or system. 
     In various embodiments, the carousel  108  is cubical, rectangular, spherical, triangular, or defined by another regular or irregular shape. The carousel  108  can include a cavity center. Alternatively, the carousel  108  can include a plurality of radial arms. The shape and/or size of the carousel  108  is modifiable to suit the needs of a particular mission, rig, and/or function. 
     In certain embodiments, the central core  1002  is omitted and/or assumes a reduced or different profile. The central core  1002  can include a conical top that projects further to the lift point  602 . Alternatively, the central core  1002  can include a substantially planar top that includes the lift point  602  directly thereon. The central core  1002  can be reduced to a dimension that supports or defines the lift point  602 . Additionally, the central core  1002  can be recessed or moved to a peripheral edge of the carousel  108 . In a further embodiment, the lift point  602  can retractably extend or removably attach to the carousel  108 , such as to permit sleeving or stacking of the carousel  108 . 
     In certain embodiments, the slots  206  are impressions, projections, cases, boxes, edges, or other areas to stow, deploy, receive, or otherwise provide access to the components. In certain embodiments, the slots  206  include a cap, lid, or surface that insulates, waterproofs, or otherwise protects or separates the components. The slots  206  can be rearrangeable, reconfigurable, or otherwise movable. The slots  206  are uniform in one embodiment, but in other embodiments, the slots  206  can be non-uniform with different dimensions or shapes to accommodate different components. In one particular embodiment, a slot  206  is configured to jointly stow a casing  308  and a sample vessel in a single slot  206 . The slots  206  can provide access to components via a side, a top, or a bottom of the slot  206 . 
     In one particular embodiment, the carousel  108  includes an enclosed perimeter, such as a frame and/or wall. Alternatively, the slots  206  form a perimeter edge of the carousel  108 . Another configuration includes a base of the carousel  108  with a flange, lip, edge, wall, projection, or other member that extends upwards to retain or separate the slots  206 . Additionally, the top surface of the carousel  108  can be open as depicted or partially enclosed with one or more apertures or openings for the slots  206 . 
       FIG.  12    is an exposed view of an interchangeable carousel system, in accordance with an embodiment. In one embodiment, a carousel  108  for a geotechnical rig includes, but is not limited to, one or more addressed slots  206  to stow one or more components including at least: one or more drill casings  308 , and one or more sample vessels, a funneled base configured to releasably couple to a docking station of a geotechnical rig; and a lift point  602  configured for maneuvering the carousel  108 . 
     In one embodiment, the funneled base  1204  of the carousel  108  defines a concavity, recess, or other mating surface for the docking base  204  of the rig  106 . The concavity of the funneled base  1204  operates to guide non-precision placement of the carousel  108  into alignment with the docking base  204  as the carousel  108  is lowered to and/or approaching the rig  106 . The funneled base  1204  releasably connects with the docking base  204  in a particular rotational orientation to index the slots  206 , such as using a ball and socket latching mechanism  1202  that is keyed to a particular alignment. The ball and socket latching mechanism  1202  engages to releasably lock the carousel  108  to the docking base  204  of the rig  106 . Wireline intervention is used to release the ball and socket latching mechanism  1202  to separate the carousel  108  from the docking base  204 . 
     In certain embodiments, funneled base  1204  includes one or more projections to mate with one or more recesses in the docking base  204 . Alternatively, the funneled base  1204  defines a projection instead of a recess and the docking base  204  defines a recess instead of a projection. The funneled base  1204  can include a uniformly decreasing concavity diameter or one or more angular reductions in concavity diameter. The slope of the decreasing concavity diameter of the funneled base  1204  can vary or remain substantially constant. In some embodiments, the funneled base  1204  is characterized by an initial slope that transitions to a cubical, cylindrical, rectangular, or other geometrical recess. 
     In certain embodiments, the ball and socket mechanism  1202  is substituted or complemented with one or more other types of releasable connections. For instance, a latching mechanism, electromagnetic coupling, spring pin, or other connector is usable. The ball and socket mechanism  1202 , or other releasable connection, can be released using wireline intervention techniques or using an electromagnetic, electromechanical, mechanical release that is computer operated. 
     In one particular embodiment, the funneled base  1204  substantially self-aligns with the docking base  204  using one or more mechanical alignment indents, detents, projections, recesses, grooves, threads, or other guides in either or both of the funneled base  1204  or the docking base  204 . In certain embodiments, the carousel  108  or the docking base  204  rotates during installation of the carousel  108  to facilitate alignment engagement. In other embodiments, one or more magnets or electromagnets are incorporated in the funneled base  1204  and/or the docking base  204  to attract or repel to facilitate alignment engagement. As the carousel  108  approaches the docking base  204 , the carousel  108  rotates under the magnetic force to line up the carousel  108  with the docking base  204  for matching engagement. 
       FIG.  13    is a perspective view of a cone penetration rig, in accordance with an embodiment. In one embodiment, a rig for cone penetration testing  1300  includes, but is not limited to, a frame  1302 ; at least one cassette  1304  including at least one rotatable reel  1306 ; at least one sensor  1308 ; at least one movable roller  1310 ; at least one drive system  1312 ; and at least one tube ( FIG.  14    &amp;  FIG.  15   ) having at least one cone penetration testing head, the at least one tube configured to be coiled about the at least one rotatable reel  1306  and extendably thrusted using the at least one drive system  1312 , wherein the at least one movable roller  1310  is configured to adjust a bend radius of the at least one tube based at least partly on data received from the at least one sensor  1308 . 
     In one embodiment, the rig  1300  is configured to perform cone penetration testing (CPT) to identify subsurface conditions in the upper approximately 100 feet of the subsurface. The rig  1300  pushes a tube having a tube sleeve and a cone ( FIG.  14    &amp;  FIG.  15   ) into the ground. Cone penetrometer sensors disposed on the tube sleeve and/or cone are used to measure tip resistance, or the force required to push the tip of the cone, and to measure sleeve friction, or the force required to push the sleeve through the soil. A friction ratio is obtained between the sleeve friction and tip resistance, often measured as a percentage. Soil type, lithography, and/or resistance to liquefication can be inferred from these measurements. For example, the following types of soil have specific friction ratios and tip resistance profiles: sandy fill, clay, bay mud, loose sand, dense sand, or other subsurface material. Additionally, when the cone includes a seismometer, the cone can also be used to predict how local shallow soil conditions can modify shaking. The capacity of local soil conditions to modify shaking is inversely proportional to the velocity of seismic waves near the surface, which can be computed with data recorded with the seismometer. Seismic energy is created manually, such as with an air driven hammer. The time that it takes for the seismic energy to travel from the surface through the ground to the seismometer on the cone is then used to determine the distance to the seismometer. This calculation can be used to determine the average shear-wave velocity. 
     In certain embodiments, the rig  1300  is a terrestrial, subterrestrial, amphibious, or cosmic rig usable at a remote site such as on terrain or underwater, separated by a physical distance from a human operator. The rig  1300  can be deployed at and/or retrieved from a remote site using an onboard propulsion system and/or using assistance from an ROV, crane, guide wire, vehicle, robot, tug, tow line, or other device. The umbilical cord  1316  is configured to provide power, communication, data, and/or commands to the rig  1300 . Alternatively, the rig  1300  operates in an autonomous and/or semi-autonomous mode using one or more program instructions that execute one or more operations using onboard computer circuitry. Wireless communication may optionally be used to communicate with, receive sensor data, and/or send commands to the rig  1300 . The rig  1300  performs CPT functions, including using the drive  1312  to thrust the tube, cone head, and/or sleeve into the subsurface by extendably uncoiling the tube from the reel  1306  of the cassette  1304 . Upon completion at one site, the rig  1300  retractably coils the tube into the reel  1306  of the cassette  1304 . The rig  1300  can be repositioned to another proximate or distant site for further CPT testing, including repeating at least some of the foregoing operations. In certain embodiments, the rig  1300  can be manned or accessed by one or more human operators. 
     In certain embodiments, the tube is constructed of steel, metal, or other alloy. As the tube is uncoiled and recoiled during operation of the rig  1300  for CPT testing, the tube bend radius increases or otherwise changes between each cycle due to hardening of the material of the tube or other factors. The bend radius change in the tube renders coiling of the tube about the reel  1306  within the cassette  1304  more difficult or impossible. Accordingly, the sensor  1308  monitors the bend radius change of the tube and the movable roller  1310  applies targeted force to the tube to correct deviations in the bend radius to maintain a desired bend rate and/or maintain a consistent diameter. The process of monitoring the bend radius of the tube and adjusting the bend radius is continued until such time as the tube is fatigued and/or unusable. 
     In some embodiments, the cassette  1304  is approximately 1 to 5 meters in diameter and approximately ⅕ to 1 meter in width, although other dimensions of cassette  1304  can be employed. The cassette  1304  can be fully or partly enclosed, such as using a shell, casing, or permitter wall. The reel  1306  rotates within or relative to the cassette  1304 . However, in certain embodiments, the cassette  1304  is omitted in favor of an exposed reel  1306 . The cassette  1304  is optionally removable and/or exchangeable with another cassette  1304 , such as to enable replacement or exchange of a fatigued or consumed CPT tube or cone penetration head. 
     In certain embodiments, the at least one cassette  1304  includes at least one motor to facilitate retraction and/or extension of the at least one tube relative to the at least one rotatable reel  1306 . The drive  1312  can operate to coil and uncoil the tube in the cassette  1304  by pulling or pushing the tube. The reel  1306  can spin or rotate substantially freely and/or through the thrusting and/or retraction caused by the drive  1312 . Alternatively, a separate motor or rotational drive system can assist or supplement the coiling or uncoiling of the tube by forcibly rotating the reel  1306  in a clockwise and/or counterclockwise direction. 
     In other embodiments, the umbilical cord  1316  is optional and/or replaced or complimented with a wireless communication interface, computer readable storage media with a computer program executable on one or more processors, a battery, a motor, an engine, or other alternative component. 
     In one particular embodiment, the rig  1300  includes at least one continuous track propulsion system  1314 . The continuous track propulsion system  1314  is composed of one or more wheels and a track, which one or more wheels are driven by an electric, gasoline, diesel, or other motor or engine. The propulsion system  1314  can optionally include one or more tires, wheels, legs, robotic limbs, ballasts, jets, or other system that propels or otherwise moves the rig  1300 . The propulsion system  1314  can be omitted with the rig  1300  resting directly or indirectly on a surface. 
       FIG.  14    is a top view of a cone penetration rig, in accordance with an embodiment. In one embodiment, a rig  1300  for cone penetration testing includes, but is not limited to, a frame  1302 ; at least one cassette  1304  including at least one rotatable reel; at least one sensor  1308 ; at least one movable roller  1406 ; at least one drive system  1312 ; and at least one tube  1402  having at least one cone penetration testing head, the at least one tube  1402  configured to be coiled about the at least one rotatable reel and extendably thrusted using the at least one drive system  1312 , wherein the at least one movable roller  1406  is configured to adjust a bend radius of the at least one tube  1402  based at least partly on data received from the at least one sensor  1308 . In a further embodiment, a cone penetration testing system  1300  includes, but is not limited to, a frame  1302 ; at least one rotatable reel  1306 ; at least one movable roller  1406 ; and at least one sensor  1308 , wherein the at least one movable roller  1406  is configured to adjust a bend radius of at least one tube  1402  coiled about the at least one rotatable reel  1306  based at least partly on data received from the at least one sensor  1308 . 
     In one particular embodiment, the tube is a steel tube of approximately 1 inch to 6 inches in diameter, such as 2 inches. The tube  1402  is thrust substantially downward via the drive channel  1404  by the drive system  1312 . As the tube  1402  is thrust by the drive system  1312 , the tube  1402  is uncoiled from the cassette and/or rotatable reel  1306 . The tube  1402  includes one or more sensors; for example, the tube  1402  can include one or more cone penetrometers and/or one or more seismometers in association with one or more power, data, or analog output wires. The tube  1402  is pushed into the subsurface to one or more depths consistent with a particular mission and uncoiled from the cassette and/or rotatable reel  1306  to accommodate the cone penetration operations. Upon completion, the drive system  1312  reverses and/or retracts the tube  1402 , which is recoiled into the cassette  1304  and/or rotatable reel  1306 . The tube  1402  passes along the at least one movable roller  1406  between the drive system  1312  and the cassette and/or rotatable reel  1306 . The at least one movable roller  1406  is configured to move, shift, press, release, retract, rotate, advance, spin, or otherwise change position relative to the tube  1402  in order to effectuate a desired curvature on the tube  1402 . The sensor  1308  includes a camera, video recorder, and/or other imager that is operable to capture, communicate, record, measure, or otherwise provide one or more images of the tube  1402  as the tube  1402  enters the cassette and/or rotatable reel  1306 . Imagery from the sensor  1308  is output, processed, and/or otherwise analyzed to determine a need for and/or a degree of curvature correction required to spool the tube  1402  within the cassette and/or rotatable reel  1306 . A processor controls one or more transistors and/or a hydraulic system or electric motor to adjust the movable roller  1406  based on any curvature requirements detected or determined using information from the sensor  1308 . The curvature adjustment provides a requisite bend radius in the tube  1402  to return the tube  1402  back into the cassette  1304 , thereby overcoming or correcting deformation and/or fatigue in the tube resulting from uncoiling, coiling, and/or thrusting into the subsurface. 
     In other embodiments, the drive system  1312  is hydraulic, engine-driven, and/or electric-based. The drive system  1312  can include a track, roller, or other friction-based system to force, thrust, or otherwise deploy the tube  1402  downward to and/or into a subsurface. The drive system  1312  may include a rotational motor, engine, or hydraulic system for forcibly turning the rotatable reel  1306  to support or facilitate extension of the tube  1402 . Power for the drive system  1312  may be provided remotely via the umbilical cord  1316  or using an onboard fuel system or battery. 
     In some embodiments, the drive channel  1404  is offset and/or adjacent to the cassette and/or rotatable reel  1306  as depicted. The tube  1402  exits the cassette and/or rotatable reel  1306  on one side and passes through the drive channel  1404  to the surface and/or subsurface. The drive channel  1404  in this embodiment can be offset to a left or right side of the cassette and/or rotatable reel  1306 . In another embodiment, the drive channel  1404  is positioned inline with the cassette and/or rotatable reel  1306  such that the tube  1402  is configured to pass through the drive channel  1404  without being substantially offset. The cassette and/or rotatable reel  1306  may include a partial or completely open perimeter wall or side wall to facilitate ingress and/or egress of the tube  1402  from the cassette and/or rotatable reel  1306 . 
     In certain embodiments, the sensor  1308  is differently positioned and/or oriented. For instance, the sensor  1308  can be oriented with a field of view toward the passageway for the tube  1402  in the cassette and/or rotatable reel  1306 . Alternatively, the sensor  1308  can be oriented with a field of view toward the movable roller  1406  and/or the drive channel  1404 . Additionally, the sensor  1308  can be oriented with a field of view toward the inside of the cassette and/or rotatable reel  1306 . The sensor  1308  can be positioned at or proximate to any of the drive channel  1404 , the cassette  1304 , the movable roller  1406 , and/or the tube  1402 . In certain embodiments, the sensor  1308  is movable and/or rotatable about one, two, three, or more axis. In other embodiments, a plurality of sensors  1308  are arranged proximate to and/or with fields of view of any of the drive channel  1404 , the movable roller  1406 , the cassette and/or rotatable reel  1306 , the drive system  1312 , and/or the tube  1402 . 
       FIG.  15    is a perspective partially exposed view of a cassette reel system for a cone penetration rig, in accordance with an embodiment. In one embodiment, a cassette system for cone penetration testing includes, but is not limited to, at least one rotatable reel  1306 ; at least one sensor  1308 ; and at least one movable roller  1406 ; wherein the at least one movable roller  1406  is configured to adjust a bend radius of at least one tube  1402  coiled about the at least one rotatable reel  1306  based at least partly on data received from the at least one sensor  1308 . The tube  1402  includes a cone penetration sleeve  1506  with a cone head  1502 . In one particular embodiment, the cone head  1502  and/or the cone penetration sleeve  1506  is replaceable on the tube  1402 . 
     In one embodiment, the cassette  1500  is removably installable on the rig ( FIGS.  13 ,  14   , &amp;  16 ). The cassette  1500  includes a docking base  1504  that releasably locks with one or more mating structures and/or associated fasteners of the frame of the rig. The cassette  1500  can be installed to the rig to enable CPT testing and/or investigation using the tube  1402  and its associated cone penetration sleeve  1506  and cone head  1502 . The tube  1402  is extendable from the rotatable reel  1306  and retractable into the rotatable reel  1306  for a plurality of cycles. After a specified number of cycles or upon a detected fracture, irregularity, or other deformity, the cassette  1500  can be removed from the rig and replaced with another cassette  1500 . The replacement cassette  1500  can include a replacement tube  1402  that enables continued operation of the rig for testing and/or investigation. In one particular embodiment, the rig or frame includes a funnel mount with a conical head to guidably receive the docking base  1504 . Locking bearings or a pin are engaged and/or removed using one or more techniques such as guidewire intervention, electromagnetic release, and/or computer control. In one particular embodiment, the docking base  1504 , the rig, or the frame includes a magnet or electromagnet to facilitate alignment and coupling of the cassette  1500 . 
     In a further embodiment, the rotatable reel  1306  is removably mounted with the cassette  1500 . Thus, the rotatable reel  1306  can be mounted on the cassette to enable repeated cycles of extension and/or retraction of the tube  1402 . Upon reaching a specified number of cycles or upon a detected fracture, irregularity, or other deformity, the rotatable reel  1306  can be removed from the cassette  1500  and another rotatable reel  1306  with a replacement tube  1402  can be loaded onto the cassette  1500 . The replacement rotatable reel  1306  with the replacement tube  1402  enables continued operation of the cassette  1500  for testing and/or investigation. In certain embodiments, the cassette  1500  includes a funnel mount with a conical head that is configured to guidably receive the rotatable reel  1306  into position. Locking bearings or a pin are engaged and removed using one or more techniques such as guidewire intervention, electromagnetic release, and/or computer control. In one particular embodiment, the rotatable reel  1306  or the cassette  1500  includes a magnet or electromagnet to facilitate alignment and/or coupling to the cassette  1500 . 
     In a further embodiment, the at least one cassette  1500  includes a guide channel  1514  to facilitate retraction and/or extension of the at least one tube  1402  relative to the at least one rotatable reel  1306 . The guide channel  1514  can consist of an opening, surface, edge, curvature, angled wall, or other structure that supports and/or directs the tube  1402  to or from the rotatable reel  1306 . In one particular embodiment the guide channel  1514  includes one or more rollers or bearings configured to reduce friction of the tube  1402  against any surface of the guide channel  1514 . In another embodiment, the guide channel  1514  can consist or incorporate any of rubber, plastic, metal, or other material that reduces friction of the tube  1402  against any surface of the guide channel  1514 . In certain embodiments, the guide channel  1514  includes a movable guide that facilitates placement of the tube  1402  on a spool line within the rotatable reel  1306 . In some embodiments, the rotatable reel  1306  is positioned inline with the guide channel  1514  so as to occupy substantially the same plane or can be positioned offset from the guide channel  1514  as depicted. 
     In one embodiment, the sensor  1308  is configured to sample, measure, obtain, determine, or detect information on movement, position, shape, and/or pressure associated with the tube  1402 , such as with sensors  1512  positioned in a perimeter or circumference wall of the cassette  1500 . One or more computer processors use information obtained from the sensor  1308  to determine a deviation from a desired bend radius in the tube  1402 . The one or more computer processors is further configured to automatically determine a position of the at least one movable roller  1406  to correct the deviation from the desired bend radius in the tube  1402  and return the tube  1402  to the desired bend radius. For instance, as the tube  1402  is recoiled, the bend radius may increase due to fatigue in the metal of the tube  1402 . The sensor  1308  is used by the processor to calculate a movement of the roller  1406  that will tighten the bend radius of the tube  1402  as the tube  1402  is retracted into the rotatable reel  1306 . The processor can implement the movement by controlling circuitry and/or a motor associated with the roller  1406 . Feedback information is obtained by the processor using the sensor  1308  to determine any position changes of the roller  1406  that are required to maintain the desired bend radius of the tube  1402 . The processor can continuously receive information from the sensor  1308  and make adjustments to positioning of the roller  1406  to maintain the bend radius within a certain tolerance. In an event that the desired bend radius cannot be maintained within a desired tolerance level, the processor can control a drive system to discontinue coiling or extend the tube  1402 . 
     In certain embodiments, the sensor  1308  consists of a camera that captures one or more of still images, infrared images, videos, or other radiofrequency information. The sensor  1308  can alternatively include a proximity sensor that is usable to detect whether the tube  1402  is within or outside a particular distance range or position range. Optionally, the sensor  1308  can include a contact sensor that is usable to detect physical touching of the tube  1402  with a surface. The sensor  1308  can include any one or more of the foregoing or other type of sensor, including a combination of sensor types that operate together to obtain information usable by one or more processors to determine or recognize fatigue, bend radius, and/or deformation information associated with the tube  1402 . 
     In one embodiment, the movable roller  1406  further includes an idler roller  1508 . The movable roller  1406  pivots, shifts, rotates, or otherwise moves relative to the tube  1402  and the idler roller  1508 . The idler roller  1508  is configured to provide a backstop to the movable roller  1406  while enabling rollable passing of the tube  1402 . Together, the movable roller  1406  and the idler roller  1508  operate in coordination to produce a desired bend radius, conformance, and/or curvature of the tube  1402 . For instance, the movable roller  1406  can press the tube  1402  at a point above the idler roller  1508  while the tube  1402  rolls through the movable roller  1406  and the idler roller  1508  enroute to the rotatable reel  1306 , thereby shortening the bend radius of the tube  1402 . Alternatively, the movable roller  1406  can press the tube  1402  at a point below the idler roller  1508  while the tube  1402  rolls through the movable roller  1406  and the idler roller  1508  enroute to the rotatable reel  1306 , thereby increasing the bend radius of the tube  1402 . The movable roller  1406  can shift up, down, in, out, around, and/or side to side to in various degrees relative to the idler roller  1508 , with or without pivoting, to produce the desired bend radius, curvature, or conformance in the tube  1402 . 
     In one particular embodiment, the cassette  1500  further includes at least one additional movable roller  1510  that operates in conjunction with the movable roller  1406 . The movable roller  1406  and movable roller  1510  operate in coordination to effect a desired bend radius, conformance, or curvature in the tube  1402  similar to use of the idler roller  1508 . However, with the additional movable roller  1510 , an additional degree of precision with conformance can be achieved. For instance, beyond effecting a bend radius or curvature change, the movable roller  1406  and movable roller  1510  can also more effectively address deformations and/or other defects by the following independent movements: up, down, side to side, in, out, swivel, rotate, pivot, and/or other maneuver relative to one another. In certain embodiments, an idler roller  1508  is present in conjunction with the movable roller  1510  and the movable roller  1406 . For instance, one movable roller  1406  can operate below the idler roller  1508  and the other movable roller  1510  can operate above the idler roller  1508 . By independently moving either the movable roller  1510  or the movable roller  1406  against, away, or around the tube  1402  as the tube  1402  traverses the same, desired conformances, bend radiuses, curvatures, conformances, and/or adjustments can be effected. 
     While the movable roller  1406  and/or the movable roller  1510  have been discussed in reference to adjusting or correcting curvature or bend radius upon retraction, the movable roller  1406  and/or the movable roller  1510  may also operate to effect straightening of the tube  1402  upon extraction to enable downward thrusting of the tube  1402 . The sensor  1308  or another sensor is configured to obtain information regarding the linearity of the tube  1402  as it exits the guide channel  1514  and/or the cassette  1500 . Any non-linearity of the tube  1402  can be corrected via movement of either the movable roller  1406  and/or the movable roller  1510 , with or without the idler roller  1508 . The degree, position, orientation, and rotation of either the movable roller  1406  and/or the movable roller  1510  can be adjusted to effect the desired shape of the tube  1402  as it progresses toward the surface and/or into the subsurface. Thus, conformance, alignment, shape bending, radius, curvature, linearity, or other features can be corrected, induced, or maintained during either retraction and/or extraction using the movable roller  1406  and/or the movable roller  1510 , with or without an idler roller  1508 . 
     In certain embodiments, the movable roller  1406  and/or the movable roller  1510  operate with a hydraulic system, electric motor, or engine that pushes or releases based on one more user inputs or in response to processor control. The hydraulic system, electric motor, or engine is controlled by a processor and associated circuitry via user commands, program instructions, artificial intelligence, machine learning, and/or sensor input. In one particular embodiment, a radius control system is provided that operates the hydraulic system, electric motor, or engine to maintain the bend radius of the tube  1402  to substantially match the curvature of the rotatable reel  1306  at the current spool level. The tube  1402  coils upon itself beginning from an inner level of the reel  1306  and progressing to an outer level of the reel  1306 . Each progressive level of the tube  1402  on the reel has a larger bend radius. Thus, the radius control system can dynamically adjust the bend radius of the tube  1402  as it retracts to substantially match the current spool level within the reel  1306 . Beginning at a smaller bend radius, the radius control system can increase the bend radius of the tube  1402  based on the level within the rotatable reel  1306 . 
     In certain embodiments, the radius control system determines a current level of the tube  1402  within the reel  1306 , detects a bend radius of the tube  1402 , determines a desired curvature for a current portion of the tube  1402 , and/or obtains feedback regarding the fit or shape of the tube  1402  within the reel  1306 , at least partly using information obtained from the sensor. The radius control system is configured to control at least one hydraulic system, electric motor, or engine to change a position of the at least one movable roller  1406  relative to the at least one tube  1402  based at least partly on a current level of the tube  1402  within the reel  1306 , a bend radius of the tube  1402 , a desired curvature for a current portion of the tube  1402 , and/or feedback regarding the fit or shape of the tube  1402  within the reel  1306 . Optionally, user input may be provided to override, set, adjust, improve, and/or otherwise influence a position of the at least one movable roller  1406  relative to the at least one tube  1402 . For example, the radius control system can detect that the tube  1402  is currently spooling on level  2 , requiring, for example, a 1 meter bend radius. The radius control system can determine that the current portion of the tube  1402  has a 1.1 meter bend radius as the tube  1402  exits the movable roller  1406  and the idler roller  1508 . The radius control system can then controllably adjust a position of the movable roller  1406  to apply increased pressure against the tube  1402 , for example by moving toward the tube  1402  an additional 3 cm. As the tube  1402  progresses further, the radius control system can evaluate the bend radius of the tube  1402  and, upon determining that a correction is required, make an incremental adjustment to the position of the movable roller  1406 , such as by backing off the tube pressure by 0.5 cm. Machine learning can be applied to improve operation of the radius control system. The bend radius and position change amounts will be dictated by the particular dimensions of the cassette  1500  and associated components and will change based at least upon cycle number of the tube  1402  and/or the type of material used for the tube  1402 , but they provide an example of the dynamic and continuous operation of the radius control system. 
     In certain embodiments, a hydraulic leak detector is provided to measure the level of hydraulic fluid in the system. Should the level drop below a specified threshold or become empty, an output signal or alert can be provided and/or an automated action can be performed. 
     In other embodiments, the positions of the movable roller  1406 , the movable roller  1510 , or the idler roller  1508  are changeable. There may be additional or fewer idler rollers or movable rollers. Also, feed or exit rollers, channels, tubes, guides, or tracks may be implemented to further support a desired shape of the tube  1402 . 
       FIG.  16    is a perspective view of a cone penetration rig, in accordance with an embodiment. In one embodiment, a rig  1600  for cone penetration testing includes, but is not limited to, a cassette  1500  supported by a structure and/or deck with one or more support legs  1602 . An umbilical cord  1316  links the rig  1600  with a control unit  1604 . The rig  1600  is configured to provide terrestrial, subterrestrial, or cosmic soil investigation and/or analysis, such as on land or on a seafloor surface. 
     In certain embodiments, the one or more support legs  1602  include a plurality of legs  1602  that are independently height adjustable to accommodate surface irregularities or sloping terrain. Thus, the support legs  1602  can be extended or retracted as required to maintain or situate the rig  1600  in an orientation such that the cone penetration tube is deployed in a substantially perpendicular manner into the Earth or other cosmic body. Any of the support legs  1602  can include pivot or swivel bases, articulating joints, and/or anchor points. The support legs  1602  can be manually adjusted and/or be driven by one or more hydraulic systems, electric motors, and/or engines, any of which can be user-controlled or controlled using a processor and/or circuitry. In one particular embodiment, a level sensor is situated on the rig  1600  and a processor samples information from the level sensor to determine control instructions for a hydraulic system that actuates the support legs  1602  in order to automatically level the rig  1600 . 
     In a further embodiment, the control unit  1604  provides one or more of power, communication, data, and/or control instructions to or from the rig  1600  via the umbilical cord  1316 . While the control unit  1604  is illustrated in proximity to the rig  1600 , the umbilical cord  1316  may stretch for many feet or miles to a control unit  1604  that is more remote from the rig  1600 . In the case of power, the umbilical cord  1316  can be omitted with a battery or fuel supply situated on or with the rig  1600 . Optionally, any communication, control, or data functions of umbilical cord  1316  be implemented using wireless communication, including cellular, radio, WIFI, satellite, BLE, BLUETOOTH, and/or beacon technology. On one particular embodiment, the control unit  1604  includes a plurality of umbilical cords that each are associated with a different rig, thereby enabling a centralized hub and spoke system to a plurality of rigs that are independently conducting soil investigation and/or testing at different sites. In another embodiment, the control unit  1604  is incorporated on or within a vehicle, vessel, dwelling, or other structure. 
       FIG.  17    is a perspective view of a vessel system with a cone penetration rig, in accordance with an embodiment. In one embodiment, the vessel system  1700  includes, but is not limited to, a vessel  1702  and a rig  1300 . The vessel  1702  includes a crane  1710  that is operable to lower, raise, or otherwise maneuver the rig  1300 . An ROV  1706  is operable to guide the rig  1300  using one or more guide wires  1704 . An umbilical cord  1316  links the rig  1300  with the vessel  1702 . One or more exchangeable and/or replacement cassettes  1708  are stowable on or with the vessel  1702  and deployable to the rig  1300  using the crane  1710  and/or ROV  1706 . Accordingly, the vessel system  1700  enables remote testing and/or soil investigation in sea, ocean, lake, or other water covered locations. 
     In one embodiment, the vessel  1702  is a barge, ship, boat, platform, floating rig, and/or other similar surface or subsurface situated vessel. The vessel  1702  includes at least one crane  1710 , which is a mechanically, electrically, electromechanically, and/or engine or motor driven device for lifting, moving, lowering, or otherwise maneuvering one or more objects, including the one or more cassettes  1708 , the rig  1300 , and/or an ROV  1706 . 
     In one embodiment, the vessel  1702  transports the one or more cassettes  1708 , the rig  1300 , and/or the ROV  1706  to a desired location in an ocean, sea, lake, or other body of water, whereby the crane  1710  deploys the rig  1300  and/or the ROV  1706  into the water. One of the cassettes  1708  can be deployed with the rig  1300  or separately from the rig  1300 . The ROV  1706  assists in the movement and/or positioning of the rig  1300  from the vessel  1702  to a seafloor, such as by using a guidewire  1704  and heave compensation systems. The one or more cassettes  1708  can be transitioned from the vessel  1702  to the rig  1300  or from the rig  1300  to the vessel  1702  using the ROV  1706 , the guide wire  1704 , and/or and the crane  1710 . The one or more cassettes  1708  each include a spooled CPT tubing, sleeve, and cone penetration head. Therefore, the rig  1300  can one cassette  1708  on the seafloor for purposes of soil investigation and/or analysis and the one cassette  1708  can be interchanged with one or more additional cassettes  1708  from the vessel  1702  to extend the lifespan of the rig  1300  on the seafloor, for example. While on the vessel  1702 , the cassettes  1708  are stackable on a deck, stowage compartment, or other unit, either before or after deployment on the rig  1300 . Any of the foregoing operations can be under complete or partial autonomous control using a computer system, circuitry, and/or associated programming. Alternatively, some or all of the operations can be manually effectuated or assisted. 
     The vessel  1702  is illustrated as a water-based vessel for example purposes only, but the vessel  1702  can be any device or system usable to deliver the rig  1300  and/or one or more cassettes  1708  to a desired terrestrial and/or subterrestrial location. In other embodiments, the rig  1300  can position itself in any terrestrial and/or subterrestrial environment independent of the vessel  1702 . In the embodiment where the vessel  1702  comprises a ship, the vessel  1702  can include a 120 ft work vessel with approximately 20 anchors and the crane  1720 , operating to approximately 2-3 k meters depth. 
     In a further embodiment, the rig  1300  comprises a cone penetration testing (CPT) rig that remotely operates on or below a terrestrial or subterrestrial surface, such as a seafloor and/or subseafloor. The rig  1300  can include propulsion systems to facilitate independent movement or positioning. Alternatively, the rig  1300  can be moved or positioned entirely or partly by another system or device, such as the ROV  1706 . 
     In certain embodiments, the rig  1300  is at least partly enabled using the one or more cassettes  1708  that are interchangeably coupled to the rig  1300 , which can be independently deployed to the rig  1300  and/or retrieved from the rig  1300  as needed or required. Thus, the rig  1300  can launch independently of any of the cassettes  1708  or with one cassette  1708  initially present. The rig  1300  deploys the tubing, sleeve, and/or cone penetration head from one of the cassettes  1708  to provide sampling and/or investigation at a series of soil depths. The cassette  1708  can be removed from the rig  1300  and an additional cassette  1708  can be installed on the rig  1300 . The extensibility of the rig  1300  is therefore provided. 
     In one embodiment, the ROV  1706  transports the cassettes  1708  from the vessel  1702  to the rig  1300 . The ROV  1706  attaches to a lift point on the cassette  1708  using assistance from the crane  1710  and guides the cassette  1708  to the rig  1300 . The ROV  1706  can be any robot or remote/automated controllable device, such as a LARS. However, it is contemplated that the one or more cassettes  1708  can be self-guided under independent propulsion to and/or from the rig  1300  without requiring use of the ROV  1706 . Alternatively, the crane  1710  or guide wire  1704  can optionally be used to transport the one or more cassettes  1708  to and/or from the rig  1300 . In certain embodiments, the ROV  1706  is a terrestrial vehicle or system that delivers and retrieves the one or more cassettes  1708  between a staging location and the rig  1300 . The staging location can include a vehicle, platform, container, climate-controlled unit, refrigeration unit, or the like. For instance, the rig  1300  can be deployed to a mine or tunnel location and the ROV  1706  can run exchanges of the cassettes  1708  from a staging location at or proximate to a mine entrance. 
     In certain embodiments, the one or more cassettes  1708  are staged or stored on a deck or surface area of the vessel  1702 . Optionally, one area of the deck or surface area of the vessel  1702  is used for one or more cassettes  1708  ready for deployment to the rig  1300  and a different area of the deck or surface area of the vessel  102  is used for one or more cassettes  1708  that have been returned from the rig  1300 . The cassettes  1708  are configured to be stackable with one another to conserve staging and/or storage space. For instance, the cassettes  1708  can include a flat bottom surface area that rests upon another of the cassettes  1708 . Alternatively, a male/female mechanical coupling can be provided between adjacent cassettes  1708  to limit or prevent movement or shifting. Additionally, the center portions of the cassettes  1708  can operate in conjunction with one another to define a space for containing a stacked cassette  1708 , such as in a pyramid type arrangement. The cassettes  1708  can be stacked without substantial limitation and may be confined using one or more frames to prevent or limit movement or shifting. 
     The vessel system  1700  is exemplary and can be configured in a variety of ways. The crane  1710  can be omitted or substituted with another lifting or hoist mechanism. The crane  1700  can be movable and/or differently located on the vessel  102 . Likewise, it is contemplated that a plurality of cranes  1710  can be utilized for backup redundancy or to increase efficiency. Multiple rigs  1300  and/or ROVs  1706  can also be utilized to enable backup redundancy or to increase efficiency, such as by enabling simultaneous sampling and investigation operations at one or more different sites. Optionally, the cassettes  1708  may be non-interchangeable and the rig  1300  may include a dedicated cassette  1708 . 
     The present invention may have additional embodiments, may be practiced without one or more of the details described for any particular described embodiment, or may have any detail described for one particular embodiment practiced with any other detail described for another embodiment. 
     While preferred and alternate embodiments of the invention have been illustrated and described, as noted above, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of these preferred and alternate embodiments. Instead, the invention should be determined entirely by reference to the claims that follow.