J0001] The present invention relates to an apparatus for deploying equipment such as a sensor. The apparatus may be particularly suitable for use in a cone penetration test for determining geotechnical properties of soils.

Description of the Prior Art

[0002] The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that the prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.

[0003] Cone penetration testing (CPT) is a widely utilised method of determining geotechnical properties of soils. Cone penetration testing can be used to investigate a range or soil types in different locations. For instance, cone penetration testing is suitable for performing land-based testing of ground soils and underwater testing of seabed soils. However, given the different conditions encountered in land-based and underwater testing, different cone penetration testing apparatus will typically be used.

[0004] In any event, the test method generally involves pushing a cone penetrometer, which is an instrumented assembly including a cone shaped tip of a defined cross-sectional area, into the ground tip-first at a controlled penetration rate. The cone penetrometer is conventionally driven into the ground using a rigid rod, and deep testing can be enabled by progressively adding rod sections.

[0005] The instrumentation provided in the cone penetrometer typically includes a variety of sensors for measuring parameters such as penetration pressure, resistance, friction and acceleration. The sensor measurements are usually taken electronically, and provided to a suitable processing system for further processing. ^ [0006] Whilst it can be acceptable in some circumstances to store the measurements in a memory in the cone penetrometer for later retrieval, real-time measurements are particularly desirable and therefore the measurements are more typically transmitted as the test progresses. This typically necessitates providing a communication cable between the cone penetrometer and the processing system. Although wireless communications may be used, these are typically not well suited for deep testing or high data rates. Sonar transducers have been proposed to relay measurement data in underwater testing scenarios, however there will be time delays as a result.

[0007] Performing cone penetration testing underwater introduces significant challenges compared to on land. For example, whilst i ^' t is a relatively straightforward matter to manually add rod sections in land-based applications, the same process can be a difficult and expensive underwater operation, especially in deep seabed applications. This tends to limit the maximum push depth for underwater cone penetration testing apparatus. A remotely operated submersible vehicle (ROV) may be required in addition to the cone penetration testing apparatus for carrying out the required manipulations to add rod sections underwater. These manipulations can be complex and time consuming, particularly where a communication cable is run from the cone penetrometer to the processing system for real-time measurements, as the communication cable will need to be disconnected to allow each rod section to be added. This can add considerable additional costs and time delays to underwater cone penetration testing operations.

[0008] US4572304 discloses a portable seabed penetration system for conducting cone penetrometer tests or the like from a support disposed above the water over the portion of the seabed to be penetrated. The system includes a casing string connected at its upper end to the support and at its lower end to a suction anchor. A string of push rods encased within the casing string is provided at its lower end with a penetrometer cone. With the suction anchor evacuated, the lower end of the casing is securely anchored to the seabed. Upward tension is then applied to the casing while downward force is applied to the rod string to drive the penetrometer cone into the seabed. The rod string is supported against buckling by the tensioned casing string. Although this system can overcome some of the difficulties of providing cone penetration testing apparatus underwater, significant lengths of the casing string and the rod string will be required for use in deep water to even reach the seabed.

(0009] K 100721853B1 discloses an articulated rod which can be stored without separation or disassembly, whereby the articulated rod sections can be fed through a rod guide apparatus in which they are fastened together to form a rigid length of rod suitable for driving a cone penetration testing cone into the ground. The rod sections are fastened together using threaded connections, but this introduces the potential for cone penetration testing operations to fail in the event that any one of the rod sections cannot be successfully fastened due to cross-threading or other obstructions of the threaded connection. Furthermore the threaded connections necessitate a complex guide apparatus.

Summary of the Present Invention

[0010] In a first broad form the present invention seeks to provide apparatus for deploying at least one sensor, the apparatus including:

a) a vertebrae chain including a plurality of interconnected vertebrae, the vertebrae defining a channel extending from a chain distal end to a chain proximal end, the chain distal end supporting at least one sensor in use;

b) a cable coupled to the chain distal end and extending along the channel to the chain proximal end; and,

c) a drive for deploying vertebrae by urging a driven vertebra towards the chain distal end, wherein the cable and the drive cooperate to place deployed vertebrae in the chain under compression thereby causing the deployed vertebrae in the vertebrae chain to rigidly interlock such that the vertebrae chain can be driven into a surface to thereby deploy the at least one sensor.

[0011] Typically the at least one sensor is provided in a cone penetrometer positioned at the chain distal end, and the surface is a soil surface such that the cone penetrometer is pushed into the soil as the vertebrae are deployed.

[0012] Typically the drive is controllably operable to cause the cone penetrometer to be pushed into the soil at a predetermined rate of penetration. [0013] Typically the predetermined rate of penetration is about 20 mm/s.

[0014] Typically the drive is configured to cause the cone penetrometer to be pushed through a maximum tip pressure of about 40 MPa.

[0015] Typically the apparatus is configured to have a weight sufficient to provide a reaction force against a pushing force required to push the cone penetrometer into the soil.

[0016] Typically the apparatus includes ballast for increasing the weight of the apparatus.

[0017] Typically the apparatus includes a frame for positioning about the surface, the frame being for supporting at least the drive.

[0018] Typically the drive is configured to engage the driven vertebrae during the urging.

[0019] Typically the drive is configured to progressively engage adjacent vertebrae along the vertebrae chain as driven vertebrae to thereby cause additional vertebrae to deployed under compression.

[0020] Typically uncompressed vertebrae in the chain are allowed to articulate.

[0021] Typically vertebrae located between the driven vertebra and the chain proximal end are uncompressed and thus can be articulated for storage. '

[0022] Typically the apparatus further includes a storage drum for storing articulated vertebrae.

[0023] Typically the articulated vertebrae are coiled onto the storage drum for storage.

[0024] Typically the storage drum includes guides for guiding the articulated portion of the vertebrae chain on the storage drum, the articulated portion of the vertebrae chain moving through the guides as the cone penetrometer is pushed into the soil.

[0025] Typically the storage drum is a stationary drum and the guides are arranged about the drum to define a helical path for the articulated portion of the vertebrae chain to move through as the cone penetrometer is pushed into the soil. [0026] Typically the storage drum includes at least one of:

a) a plurality of rollers positioned adjacent the guides for allowing at least some of the vertebrae in the articulated portion of the vertebrae chain to roll across the rollers; and,

b) a plurality of engagers positioned adjacent the guides for engaging at least some of the vertebrae in the articulated portion of the vertebrae chain,

[0027] Typically the apparatus includes a tensioning device coupled to a cable end extending from the chain proximal end for allowing tension to be applied to the cable.

[0028] Typically the tensioned cable at least one of:

a) retains a rigid deployed section of the vertebrae chain under compression; and, b) supports the rigid deployed section against buckling.

[0029] Typically the tensioning device is a winch.

[0030] Typically the cable end is coupled to a spool of the winch, at least a portion of the cable extending from the chain proximal end being wound onto the spool, the winch being operated to controllably release the cable such that tension is applied to the cable as the vertebrae chain is deployed.

[0031] Typically the apparatus includes communication wiring connected to the at least one sensor and extending along the channel for allowing data generated by the at least one sensor to be transmitted.

[0032] Typically the communication wiring is located coaxially within the cable.

[0033] Typically the cable includes a tension sheath enclosing the communication wiring, the tension sheath being for carrying tension applied to the cable.

[0034] Typically the tension sheath is formed from steel wire rope.

[0035] Typically the apparatus includes a processing system connected to the communication wiring at the second end of the cable, the processing system being for receiving data transmitted from at least one sensor. [0036] Typically the data is received by the processing system in real-time.

[0037] Typically the vertebrae are coupled together end to end, each vertebra including an aperture extending between respective ends thereof such that the channel is defined by the apertures.

[0038] Typically the channel is defined in the form of a conduit extending coaxially along the vertebrae chain.

[0039] Typically each vertebra includes at least one port for allowing fluid communication between the conduit and an outer surface of the vertebra.

[0040] Typically the conduit, is pressurized via the respective ports of the vertebrae.

[0041] Typically the vertebrae chain includes couplings between adjacent vertebrae, the couplings being reconfigurable between an articulated state and an interlocked state.

[0042] Typically the couplings move from the articulated state to the interlocked state when adjacent vertebrae are compressed together.

[0043] Typically the couplings are encased by outer vertebra surfaces of the adjacent vertebrae when the adjacent vertebrae are compressed together.

[0044] Typically a portion of each coupling forms a part of the rigid deployed section of the vertebrae chain between the adjacent vertebrae when the adjacent vertebrae are compressed together.

[0045] Typically each coupling includes an outer coupling surface having a cross sectional shape similar to outer vertebra surfaces of the vertebrae, such that the drive can engage the outer coupling surface or the outer vertebra surfaces.

[0046] Typically the vertebrae and the couplings between vertebrae are configured to define a substantially continuous outer surface profile along the rigid deployed section of the vertebrae when the couplings are in the interlocked state. [0047] Typically the drive includes at least two drive wheels configured to engage with an outer surface of the driven vertebra when positioned between the drive wheels, for urging the driven vertebra.

[0048] Typically the drive includes a pair of counter-rotating drive wheels.

[0049] Typically the drive wheels and the vertebrae are configured to have conforming engaging surfaces.

[0050] Typically each vertebra includes a ball member at a first end and a socket at a second end, such that adjacent vertebrae are coupled together using respective ball and socket joints.

[0051] Typically the vertebrae are configured such that the ball and socket joints are allowed to articulate unless the adjacent vertebrae are compressed together to thereby cause respective load bearing portions of the adjacent vertebrae to become engaged and lock the adjacent vertebrae in rigid alignment.

[0052] Typically each vertebra includes a socket at each end and a coupling member having a ball member at each end is coupled between adjacent vertebrae, such that adjacent vertebrae are coupled together using ball and socket joints provided at respective ends of each coupling member.

[0053] Typically each coupling member has an outer coupling surface that can be engaged by the drive, such that the drive urges outer surfaces of the vertebrae and coupling members alternatively as the cone penetrometer is pushed into the soil.

[0054] Typically the apparatus is configured to be deployed to a seabed using ,a launch and recovery system provided on a surface vessel.

[0055] Typically the apparatus further includes a deployment winch connected to an umbilical cable extending from the launch and recovery system.

[0056] Typically the deployment winch includes an active heave compensation system.

[0057] Typically the umbilical cable includes at least one of: a) an electrical power cable for delivering electrical power from the vessel to the apparatus; and,

b) a data cable for allowing data communications between the apparatus and the vessel.

[0058] Typically the apparatus includes a hydraulic pump for hydraulically actuating at least the drive.

[0059] Typically the hydraulic pump is powered by electrical power supplied to the apparatus from a separate electrical power source.

[0060] Typically the at least one sensor includes at least one of:

a) a pressure sensor;

b) a resistance sensor;

c) a friction sensor; and,

d) an accelerometer.

[0061] Typically the apparatus includes a locking drive for causing vertebrae to interlock prior to being urged by the driven vertebra.

[0062] Typically the apparatus includes a fluid supply for supplying pressurised fluid to the channel.

[0063] Typically at least some of the vertebrae include a pressure relief valve in fluid communication with the channel.

[0064] Typically the apparatus includes a hose for transporting the pressurised fluid along the channel of the vertebrae chain.

[0065] Typically the hose is located inside the cable.

[0066] In a second broad form the present invention seeks to provide apparatus for use in a cone penetration test, the apparatus including:

a) a frame for positioning above a surface of soil to be tested in use; b) a vertebrae chain including a plurality of vertebrae coupled together end to end, wherein adjacent vertebrae are allowed to articulate in an uncompressed state and are rigidly interlocked in a compressed state, each vertebra including an aperture extending between respective ends thereof such that the apertures of the plurality of vertebrae define a conduit extending through the vertebrae chain;

c) a cone penetrometer attached to a distal end of the vertebrae chain, the cone penetrometer including instrumentation for determining geotechnical properties of the soil;

d) a cable passing through the conduit of the vertebrae chain, a first end of the cable being attached to the distal end of the vertebrae chain and a second end of the cable extending from a proximal end of the vertebrae chain opposite the distal end, the cable including communication wiring for allowing data generated by the instrumentation to be transmitted from the cone penetrometer in use;

e) a tensioning device supported by the frame, the second end of the cable being coupled to the tensioning device to allow tension to be applied to the cable in use; f) a drive supported by the frame, the drive being for deploying vertebrae by engaging a driven vertebra of the vertebrae chain and urging the driven vertebra towards the distal end of the vertebrae chain so as to cause vertebrae located between the driven vertebra and the cone penetrometer to be in the compressed state so as to form a rigid deployed section for pushing the cone penetrometer into the soil beneath the frame in use, the tensioned cable ensuring that vertebrae in the rigid deployed section remain in the compressed state and supporting the rigid deployed section against buckling in use.

Brief Description of the Drawings

[0067] An example of the present invention will now be described with reference to the accompanying drawings, in which: -

[0068] Figure 1A is a schematic side view of an example of an apparatus for use in a cone penetration test;

[0069] Figure IB is a schematic top view of the apparatus of Figure 1 A at section A-A\ with some features hidden for clarity; [0070] Figure 1C is a schematic top view of the drive and a drive vertebra of the apparatus of Figure 1 A at section B-B\ with some features hidden for clarity;

[0071] Figures 2 A to 2D are schematic side views of the apparatus of Figure 1A at different stages of pushing a cone penetrometer into soil;

[0072] Figure 3 is a schematic side view of an example of an apparatus for use in an underwater cone penetration test;

[0073] Figure 4 is a schematic cross section view of an example of a vertebra;

[0074] Figure 5 A is a schematic cross section view of an example of a portion of a vertebrae chain using the vertebrae of Figure 4, in an uncompressed and aligned state;

[0075] Figure 5B is a schematic cross section view of the portion of the vertebrae chain of

Figure 5A, in an uncompressed and articulated state;

[0076] Figure 5C is a schematic cross section view of the portion of the vertebrae chain of Figure 5A, in a compressed state;

[0077] Figure 6 is a schematic cross section view of a further example of a vertebra;

[0078] Figure 7 is a schematic cross section view of a coupling member for coupling the vertebra of Figure 6;

[0079] Figure 8 is a schematic cross section view of an alternative coupling member for coupling the vertebra of Figure 6;

[0080] Figure 9A is a schematic cross section view of an example of a portion of a vertebrae chain using the vertebrae of Figure 6 and the coupling member of Figure 7, in an uncompressed and aligned state;

[0081] Figure 9B is a schematic cross section view of the portion of the vertebrae chain of Figure 9A, in an uncompressed and articulated state;

[0082] Figure 9C is a schematic cross section view of the portion of the vertebrae chain of Figure 9A, in a compressed state;

[0083] Figure 10A is a schematic cross section view of an example of a portion of a vertebrae chain using the vertebrae of Figure 6 and the coupling member of Figure 8, in an uncompressed and aligned state;

[0084] Figure 10B is a schematic cross section view of the portion of the vertebrae chain of Figure 10A, in an uncompressed and articulated state;

[0085] Figure IOC is a schematic cross section view of the portion of the vertebrae chain of Figure 1 OA, in a compressed state; [0086] Figure 1 1 is a schematic side view of a further example of an apparatus for use in a cone penetration test;

[0087] Figure 12A is a schematic isometric view of an example of a portion of a vertebrae chain connected to a cone penetrometer;

[0088] Figure 12B is a schematic isometric cross section view of the example of the portion of the vertebrae chain and cone penetrometer of Figure 12A;

[0089] Figure 12C is a schematic isometric exploded view of the example of the portion of the vertebrae chain and cone penetrometer of Figure 12A;

[0090] Figure 13A is a schematic isometric view of a portion of the vertebrae chain of Figure 12A in an uncompressed state;

[0091] Figure 13B is a schematic isometric cross section view of the portion of the vertebrae chain of Figure 13A in the uncompressed state;

[0092] Figure 13C is a side view of the portion of the vertebrae chain of Figure 13A in an uncompressed and articulated state;

[0093] Figure 13D is a schematic isometric view of the portion of the vertebrae chain of Figure 13A in an uncompressed and articulated state;

[0094] Figure 13E is a schematic isometric cross section view of the portion of the vertebrae chain of Figure 13 A in an uncompressed and articulated state;

[0095] Figure 13F is a schematic isometric view of the portion of the vertebrae chain of Figure 13A in a compressed state;

[0096] Figure 13G is a schematic isometric cross section view of the portion of the vertebrae chain of Figure 13F in the compressed state;

[0097] Figure 14A is a schematic isometric view of an example of a ball vertebra assembly;

[0098] Figure 14B is a schematic isometric exploded view of the ball vertebra assembly of Figure 14A;

[0099] Figure 14C is a schematic isometric partially exploded cross section view of the ball vertebra assembly of Figure 14A;

[0100] Figure 15A is a schematic isometric view of an example of a socket vertebra assembly;

[0101] Figure 15B is a schematic isometric exploded view of the socket vertebra assembly of Figure 15 A; [0102] Figure 15C is a schematic isometric exploded cross section view of the socket vertebra assembly of Figure 15 A;

[0103] Figure 16A is a schematic isometric view of an example of a storage drum assembly;

[0104] Figure 16B is a schematic isometric cross section view of the storage drum assembly of Figure 16 A;

[0105] Figure 16C is a schematic isometric exploded view of the storage drum assembly of Figure 16A;

[0106] Figure 17A is a schematic isometric view of another example of a storage drum assembly and a winch;

[0107] Figure 17B is a schematic isometric partial cross section view of the storage drum assembly of Figure 17A;

[0108] Figure 17C is a schematic isometric partial cross section view of a portion of the storage drum assembly of Figure 17A;

[0109] Figure 18 is a schematic isometric exploded view of an engager assembly;

[0110] Figure 19A is a schematic isometric view of an engager of the engager assembly of

Figure 18; and,

[0111] Figure 19B is a schematic isometric partially exploded view of the engager of Figure 19A. ,

Detailed Description of the Preferred Embodiments

[0112] An example of deploying at least one sensor will now be described with reference to Figure I A.

[0113] In broad terms, the apparatus 100 includes a vertebrae chain 120 extending from a chain distal end 121 to a chain proximal end 122. The vertebrae chain 120 includes a plurality of interconnected vertebrae 123, which define a channel 124 extending from the chain distal end 121 to the chain proximal end 122. The chain distal end 122 supports at least one sensor.

[0114] The apparatus 100 also includes a cable 140 coupled to the chain distal end 121 and extending along the channel 124 to the chain proximal end 122. The apparatus 100 further includes a drive 160 for deploying vertebrae 123 by urging a driven vertebra 123.1 towards the chain distal end 121.

[0115] In use, the cable 140 and the drive 160 cooperate to place deployed vertebrae 123 in the vertebrae chain 120 under compression. This causes the deployed vertebrae 123 in the vertebrae chain 120 to rigidly interlock, such that the vertebrae chain 120 can be driven into a surface to thereby deploy the at least one sensor.

[0116] Accordingly, the apparatus 100 can drive the at least one sensor into the surface using a rigid deployed section 170 of the vertebrae chain 120 which is formed under compression due to the combined action of the cable 140 and the drive 160. In particular, when the deployed vertebrae 123 are driven by the drive 160 the chain distal end 121 is restrained by the cable 140 and this ensures the deployed vertebrae remain under compression. The cable 140 can also support the rigid deployed section 170 against buckling, particularly when loaded under sufficient tension.

[0117] In the present example, the at least one sensor is provided in a cone penetrometer 130 positioned at the chain distal end 121, although it will be appreciated that the apparatus 100 will be capable of deploying sensors of other types which need not necessarily be provided in a cone penetrometer 130. Furthermore, in the present example, the surface is a surface of soil S, such that the cone penetrometer 130 is pushed into the soil as the vertebrae 123 are deployed, to thereby allow a cone penetration test to be performed.

[0118] It will be appreciated that this apparatus 100 allows greatly improved flexibility of storage and deployment compared to conventional cone penetration testing systems which require a long rod to be provided for pushing the cone penetrometer into soil. Whilst a long rod can be build up by joining multiple rod lengths in a conventional system, this can be a laborious and time consuming procedure, particularly for underwater tests. Furthermore, the maximum push depth of conventional cone penetration systems is typically limited by the amount of rod length that can be joined at once for a continuous push. If greater depths are required, this will usually require interruptions to the testing to allow additional rod sections to be added and data will need to be patched at the discontinuities. [0119] In contrast to conventional cone penetration test systems, the vertebrae chain 120 of the apparatus 100 can be continuously deployed as required without requiring a rod of sufficient length for the test to be assembled in advance or interrupting testing to allow additional rod sections to be added. The apparatus 100 described above allows a long rigid deployed section 170 to be provided without the above mentioned constraints of conventional systems. In particular, the apparatus 100 can allow a rigid deployed section 170 to be formed with greater lengths than would be practical through the conventional use of a rod, and can allow sensor measurements to be recorded during testing without interruptions.

[0120] Furthermore, the portion of the vertebrae chain 120 which is not under compression to form the rigid deployed section 170 can be articulated and stored in a relatively compact area, for example by coiling or winding the vertebrae chain 120. It will be appreciated that suitable storage methods may allow a significant length or vertebrae chain 120 to be provided for a desired push depth.

[0121] Further details of the example apparatus 100, being particularly adapted for use in a cone penetration test, will now be described with reference to Figure 1A and the related Figures IB and 1C.

[0122] In the present example, the apparatus 100 includes a frame 1 10 for positioning above the surface of soil S to be tested, and upon which other elements of the apparatus 100 may be supported. The soil S may be surface soil such that the frame 110 is positioned on land, or may be seabed soil such that thus the frame 1 10 is positioned underwater upon the seabed. As will be demonstrated in due course, the apparatus 100 may be particularly suitable for seabed applications but may nevertheless be employed in land-based applications.

[0123] As mentioned, the apparatus 100 includes a vertebrae chain 120 which is provided with a cone penetrometer 130 attached to the chain distal end 121. The cone penetrometer 130 typically includes a range of sensor instrumentation for determining geotechnical properties of the soil S, and, in use, the cone penetrometer 130 is pushed into the soil using the rigid deployed section of the vertebrae chain 120 to allow a cone penetration test to be conducted. [0124] In this example, the plurality of interconnected vertebrae 123 in the vertebrae chain 120 are coupled together end to end. The vertebrae chain 120 is configured so that adjacent vertebrae 123 are allowed to articulate when in an uncompressed state and are rigidly interlocked to form a rigid deployed section of the vertebrae chain 120 when in a compressed state.

[0125] The channel 124 extending through the vertebrae chain 120 may be defined by apertures extending through each vertebra 123 between their respective ends. As can be seen in the cross section view of Figure 1C, the aperture may be coaxially located within each vertebra 123, such that the apertures of the plurality of vertebrae 123 define the channel 124 in the form of a coaxial conduit extending through the vertebrae chain 120.

[0126] The cable 140 passes through the channel 124 extending through the vertebrae chain 120 and thus passes through the aperture of each vertebra 123. A first end 141 of the cable 140 is attached to the chain distal end 121 and a second end 142 of the cable 140 extends from the opposite chain proximal end 122.

[0127] In the present example, the cable 140 includes communication wiring for allowing data generated by the at least one sensor provided within the cone penetrometer 130 to be transmitted from the cone penetrometer 130, for instance whilst a cone penetration test is

J

being conducted. However, it will be appreciated that communication wiring may be provided separately to the cable 140, for example by having communication wiring extend along the vertebrae chain 120 through a second channel defined separately from the channel 124.

[0128] The cable 140 passing through the channel 124 of the vertebrae chain 120 is adapted to function as a tension cable, whereby tension is applied to the cable 140 as the cone penetration test is conducted. In order to allow tension to be applied to the cable 140, the apparatus 100 may further include a tensioning device 150. Thus, the second end 142 of the cable 140 may be coupled to the tensioning device 150 to allow tension to be applied to the cable 140 which otherwise has its first end 141 anchored to the chain distal end 121.

[0129] The tensioning device 150 will typically be supported by the frame 1 10. The drive 160 will also typically be supported by the frame 1 10. The frame 110 should be configured to support the tensioning device 150 and drive 160 against loading that will be encountered during a cone penetration test,

[0130] The drive 160 is configured to engage the driven vertebra 123.1 of the vertebrae chain 120 and urge the driven vertebra 123.1 towards the chain distal end 121, and thus downwardly towards the soil S.

[0131] This engagement and urging of the driven vertebra 123.1 by the drive 160 will cause the vertebrae 123 located between the driven vertebra 123.1 and the cone penetrometer 130 to be under compression and thus form a rigid deployed section 170 of the vertebrae chain 120 for pushing the cone penetrometer 130 into the soil S beneath the frame 110. During this process, tension is applied to the cable 140. This tension in the cable 140 can ensure that vertebrae 123 in the rigid deployed section 170 remain under compression and can also support the rigid deployed section 170 against buckling.

[0132] Accordingly, the cone penetrometer 130 can be pushed into the soil S by a rigid deployed section 170 that is formed as required from a vertebrae chain 120 that is normally allowed to articulate when not under compression.

[0133] The apparatus 100 may allow testing to proceed in a continuous uninterrupted manner by having the drive 160 progressively add vertebrae 123 to the rigid deployed section 170. The communication wiring of the cable 140 can remain unbroken throughout this process, allowing data to be transmitted from the cone penetrometer 130 in real-time and without discontinuities requiring patching.

[0134] Furthermore, by applying tension to the cable 140, the rigid deployed section 170 can be supported against buckling instabilities so as to allow even greater push depths for a given cone penetrometer 130 cross section area, compared to conventional systems.

[0135] In view of the above, it will be appreciated that the apparatus 100 can allow for cone penetration testing or other testing requiring sensors to be deployed into a surface to be performed with continuous real-time data transmission, at push depths that cannot be achieved with conventional systems without interruption. By avoiding the need for interruptions and manual manipulations to add rod sections, the apparatus 100 also allows significant reductions in the time taken to perform the cone penetration test. This can translate into substantial cost savings, particularly when used in underwater applications, since testing can be completed more quickly and expensive vessel hire/operating costs can thus be reduced.

[0136] A cone penetration test may be conducted using the above described apparatus 100 by having the drive 160 progressively engage adjacent vertebra 123 along the vertebrae chain 120 as driven vertebrae 123.1, to thereby progressively cause additional vertebrae 123 to be under compression and thus extend the rigid deployed section 170, so as to push the cone penetrometer 130 further into the soil S.

[0137] Cone penetration testing is often conducted by pushing the cone penetrometer 130 into the soil S to be tested at a maintained rate of penetration (or "push rate"). In the present example, this can be achieved by configuring the drive 160 so that it is controllably operable to cause the cone penetrometer 130 to be pushed into the soil at a predetermined rate of penetration. In other words, the drive 160 may operate at a constant push rate.

[0138] It will be appreciated that a constant push rate may require controlling the force the drive 160 applies to the driven vertebrae 123.1 for urging it towards the chain distal end 121 and thus pushing the cone penetrometer 130 into the soil S, such that a greater urging force is applied when the cone penetrometer 130 encounters soil layers that generate a greater tip pressure or a greater resistance to penetration.

[0139] In one example, the apparatus 100 may be configured to maintain a predetermined rate of penetration of about 20 mm/s under a maximum tip pressure of about 40 MPa. It will be understood that different predetermined rates of penetration may be used and their selection may depend on a range of factors such as the urging capacity of the drive 160. This may be limited, for example, by the driving power that can be supplied by the drive 160 or the maximum urging force that may be provided to the driven vertebra 123.1 without slippage, such as where the drive 160 frictionally engages the driven vertebra 123.1.

[0140] It will be appreciated that the total force resisting penetration of the cone penetrometer 130 into the soil S (for example as a result of tip pressure acting on the tip of the cone penetrometer 130, frictional resistance acting on the sidewalls of the cone penetrometer 130, and the like) should be reacted by a sufficient reaction force. Accordingly, the apparatus 100 may be configured to have a weight sufficient to provide the reaction force against the pushing force required to push the cone penetrometer 130 into the soil S.

[0141] The weight of the apparatus 100 may be increased through the use of heavy frame materials or cross sections and/or by adding mass by providing ballast (not shown) supported by the frame 1 10. In any event, by providing apparatus 100 with sufficient weight, a suitable reaction force can be provided so that the apparatus 100 is not lifted from the surface of the soil S during cone penetration testing. Under the exemplified predetermined rate of penetration and maximum tip pressure conditions mentioned above, a total apparatus mass of about 6000 kg may provide a sufficient reaction force.

[0142] As mentioned above, vertebrae 123 will be allowed to articulate if they are not under compression due to the drive 160 urging the driven vertebrae 123.1. In particular, the vertebrae 123 located between the driven vertebra 123.1 and the proximal end 122 of the vertebrae chain 120 will generally be uncompressed and thus can be articulated for storage.

[0143] The portion of the vertebrae chain 120 that is allowed to articulate may be stored in a range of manners to allow a significant length of vertebrae chain 120 to be provided and to efficiently utilise space in the apparatus 100.

[0144] In the present example, the apparatus 100 includes a storage drum 180 for storing an articulated portion of the vertebrae chain 120. As shown in Figures 1A and IB, the articulated portion of the vertebrae chain 120 may be coiled onto the storage drum 180 for storage. This articulated and coiled configuration of at least some of the vertebrae chain 120 allows a significant length of vertebrae chain 120 |o be stored prior to being engaged by the drive 160 and being used to extend the rigid deployed section 170 for pushing the cone penetrometer 130 into the soil S.

[0145] As can be seen in Figure IB, the storage drum 180 may include guides 181 for guiding the articulated portion of the vertebrae chain 120 on the storage drum 180. Accordingly, the articulated portion of the vertebrae chain 120 is allowed to move through the guides 181 as the cone penetrometer 130 is pushed into the soil S. [0146] In the present example, the storage drum 180 is a stationary drum and the guides 181 are arranged about the drum to define a helical path for the articulated portion of the vertebrae chain 120 to move through as the cone penetrometer 130 is pushed into the soil S. In some examples, the guides 181 may be configured to surround the vertebrae chain 120 such that the guides 181 provide a helical passageway having openings at respective ends but otherwise being enclosed. In any event, the guides 181 can assist in preventing contact between vertebrae 123 in adjacent coils of the articulated portion of the vertebrae chain 120, which might otherwise result in wear and/or interference as the vertebrae 123 move through the guides 181.

[0147] It will be appreciated that whilst Figure IB only shows a storage drum 180 having guides 181 configured for storing up to two coiled loops of articulated vertebrae chain 120, this configuration has been selected for simplicity of illustration only, and practical embodiments of the storage drum 180 may be configured for storing a large number of coiled loops and thus a far greater length of articulated vertebrae chain 120. The coiled loops do not necessarily need to be arranged longitudinally along the storage drum 180 and in some embodiments the guides 181 may be configured to store coiled loops of the articulated vertebrae chain 120 in radial layers.

[0148] As shown in Figure 1A, the second end 142 of the cable 140 extends from the chain proximal end 122, between the storage drum 180 and the tensioning device 150. As tension is applied to the cable 140 this will tend to cause the articulated portion of the vertebrae chain 120 to be more tightly coiled on the storage drum 180. A portion of the Cable 140 may be coiled on the storage drum 180 where it extends from the proximal end 122 of the vertebrae chain 120, particularly when a substantial length of the vertebrae chain 120 has been deployed in the form of the rigid deployed section 170.

[0149] In the present example, the tensioning device 150 is provided in the form of a winch. The second end 142 of the cable 140 may be coupled to a spool 151 of the winch, and at least a portion of the cable 140 extending from the proximal end 122 of the vertebrae chain 120 may be wound onto the spool 151 in the usual manner. The winch can thus be operated to controllably release the cable 140 such that a suitable level of tension can be applied to the cable 140 as the cone penetrometer 130 is pushed into the soil. The winch may be powered by a suitable motor, such as a hydraulic or electric motor.

[0150] It will be appreciated that the length of cable 140 to be wound onto the spool 151 should be selected to correspond to the maximum penetration depth of the cone penetrometer 130, since the cable 140 needs to be released from the winch at a rate that is based on the push rate. In practice, the rate at which the cable 140 is released will be less than the push rate in order to maintain the tension on the cable 140. This release rate can be controlled as the winch is operated to thus control the tension applied to the cable 140.

[0151] As mentioned above, the cable 140 may not only serve to carry tension loading as the apparatus 100 is operated to conduct cone penetration testing, but may also serve to allow data transmission from the cone penetrometer 130 via the communication wiring. In the present example, the communication wiring is located coaxially within the cable 140.

[0152] In one embodiment, the cable 140 may include a tension sheath enclosing the communication wiring, whereby the tension sheath is adapted to carry the tension applied to the cable 140. For example, the tension sheath may be suitably formed from steel wire rope.

[0153] Data that is transmitted via the communication wiring may be received by a suitably configured processing system (not shown). Any suitable processing system may be used, such as a general purpose computer, and embedded microprocessor system, a field programmable gate array (FPGA) or the like.

[0154] The processing system may be provided with the apparatus 100 and may be connected to the communication wiring at the second end 142 of the cable 140. It will be appreciated that the processing system should be configured to suit the environment in which it is intended to operate. For example, for underwater operations the processing system will typically be enclosed in a sealed enclosure suitable for withstanding hydrostatic pressures at the depth of operation.

[0155] In the event a winch is used to provide the tensioning device 150, the communication wiring may extend from the cable 140 where it is terminated on the spool 151 of the winch, and in turn connected to the processing system in a suitable manner. It will thus be appreciated that the communication wiring can be provided in an unbroken path from the cone penetrometer 130 to the processing system 190 throughout the operation of the apparatus 100, thus allowing data to be received by the processing system in real-time.

(0156] The vertebrae 123 will typically be designed to provide a desired amount of articulation when not compressed whilst also being capable of withstanding maximum expected loading when deployed in the course of a cone penetration test. For example, the shape of the vertebrae 123 and materials used to form the vertebrae 123 should be selected to ensure the vertebrae 123 will not structurally fail under compression loads that may be encountered due to the cone penetrometer being pushed through the maximum tip pressure at the maximum rate of penetration.

[0157] The vertebrae 123 will typically be of metal construction, with the particular type and grade of metal being selected to suit the expected loading and environmental conditions. However, different materials such as ceramic or plastic materials may be suitable under some applications.

[0158] Further examples of suitable configurations of the vertebrae 123 used to form the vertebrae chain 120 will be provided with reference to later Figures.

[0159] In the present example, the vertebrae chain 120 includes couplings 125 between adjacent vertebrae 123, as can be seen extending between articulated vertebrae in Figures 1 A and IB. These couplings 125 may be reconfigurable between an articulated state and a rigid state, so as to allow the adjacent vertebrae 123 to be articulated or to act together as rigid deployed section 170. The couplings 125 may be configured to move from the articulated state to the rigid state when adjacent vertebrae 123 are compressed together, such as when a driven vertebra 123.1 is urged by the drive 160 towards the cone penetrometer 130 to thereby compress the intermediate vertebrae 123.

[0160] A variety of different types of couplings 125 may be used, and these may be selected to provide desired performance characteristics. For instance, some types of couplings 125 may allow for improved angles of articulation between adjacent vertebrae 123 whilst others might allow for improved vertebrae 123 strength and/or stability when compressed. [0161] The couplings 125 may be provided as integral elements of the vertebrae 123 or alternatively may be provided as separate components linking the adjacent vertebrae 123. Examples of each of these configurations will be described in due course.

[0162] As depicted in Figure 1A, the couplings 125 of the present example may be encased by the outer vertebra surfaces of the adjacent vertebrae 123 when compressed together. This allows the outer vertebra surfaces of adjacent vertebrae 123 to define a substantially continuous outer surface across their couplings 125 when they are compressed into an rigid deployed section 170. It will be understood this can help to ensure that the drive 160 is able to engage the vertebrae 123 in a smooth manner without encountering significant discontinuities across couplings 125 between the vertebrae 123.

[0163] Turning to the drive 160, this may include at least two drive wheels 161. The drive wheels 161 are configured to engage with an outer surface of the driven vertebra 123.1 when positioned therebetween and to urge the driven vertebra 123.1 towards the soil S. The drive wheels 161 will typically be connected to a suitable drive train, which may be powered, for example, by a hydraulic or electric motor. In this example a pair of counter-rotating drive wheels 161 are provided, although a greater number of drive wheels 161 may be used to provide improved engagement with the driven vertebra 123.1.

[0164] The drive wheels 161 and the vertebrae 123 may be configured to have conforming engaging surfaces, as shown in Figure 1C which depicts a cross section through the drive wheels 161. In one example, ^' the drive wheels 161 may deliver their urging force to the driven vertebra 123.1 primarily by friction. The drive 160 may be similar to similar systems used on conventional cone penetration systems that use lengths of rods to push a cone penetrometer.

[0165] However, the drive 160 may also include adaptations for use with particular vertebrae 123 configurations. For example, the drive wheels 161 may include protrusions for engaging with corresponding intrusions or end features on the vertebrae 123. Thus, a protrusion may engage with an end of the driven vertebra 123.1 to provide a positive mechanical engagement so that the urging force does not need to be provided by friction alone.

[0166] An example deployment process using the above described apparatus 100 to conduct a cone penetration test will now be outlined with reference to Figures 2A to 2D, which illustrate indicative configurations of the elements of the apparatus 100 at different stages throughout a typical test.

[0167] Figure 2A depicts a starting point of the process, in which the cone penetrometer 130 is positioned above the surface of the soil S and none of the vertebrae 123 are under compression. The drive 160 is operated by causing the pair of drive wheels 161 to counter- rotate in engagement with a driven vertebra 123.1 attached to the cone penetrometer 130, as indicated by arrows on the respective drive wheels 161. This causes the cone penetrometer 130 to be pushed into the surface of the soil S.

[0168] The tensioning device 150 simultaneously applies tension to the cable 140. In the present example this is performed by controlling the rate at which the cable 140 that is wound onto the spool 151 is released, as indicated by an arrow on the spool 151. The drive 160 will need to provide an urging force sufficient to overcome the tension on the cable 140 and to cause the cone penetrometer 130 to be pushed into the soil S against the penetration pressure and resistance encountered during the test.

[0169] As shown in Figures 2A to 2D, at least one of the vertebrae 123 located above the driven vertebra 123.1 may be interlocked with the driven vertebra 123.1 under the influence of gravity. In this example the next vertebra 123 immediately above the driven vertebra 123.1 is aligned with the driven vertebra 123.1 and their respective ends are generally abutted together. However it will be appreciated that these two adjacent vertebrae 123 are not forcefully compressed together at this stage. Whilst these two adjacent vertebrae 123 will not be under the same degree of compression as the vertebrae 123 forming the rigid deployed section 170, it can be desirable to have at least one interlocked vertebra 123 above the driven vertebra 123.1 to assist in the progressive engagement of the vertebrae 123 by the drive 160.

[0170] On the other hand, in some circumstances it may in fact be desirable to provide springs or other means for holding the vertebrae 123 apart in an uncompressed state, to ensure ease of articulation for storage. A trade off between the ease of articulation and ease of engagement by the drive 160 may be required as part of the design of the vertebrae 123.

[0171] Turning now to Figure 2B, as the cone penetrometer 130 is pushed further into the soil S the counter-rotating drive wheels 161 will engage the next vertebra 123 along the vertebrae chain 120 as the new driven vertebra 123.1. This causes the new driven vertebra 123.1 to be urged towards the vertebra 123 positioned between the new driven vertebra 123.1 and the cone penetrometer 130. This causes the new driven vertebra 123.1 and the vertebra 123 that was previously driven to be rigidly interlocked as part of a rigid deployed section 170. The tensioning device 150 will have released a length of cable 140 based on the length of the rigid deployed section 170 whilst applying a suitable tension.

[0172] The progressive engagement of subsequent vertebrae 123 will continue as the cone penetration test is conducted, with the rigid deployed section 170 being extended as each vertebra is driven by the drive 160 as a driven vertebra 123.1 and thus is urged towards the soil by the drive 160. Throughout this process, the articulated vertebrae 123 that are coiled on the storage drum 180 for storage will move from the storage drum 180 towards the drive 160. In this example, the articulated portion of the vertebrae chain 120 is guided by the guides 181 as it is driven through the drive 160, added to the rigid deployed section 170, and pushed into the soil S. ^■ ■, , ^{· ■}

[0173] Figure 2C illustrates a state of the apparatus 100 in which a number of vertebrae 123 have been pushed into the soil S in the rigid deployed section 170. It can be clearly seen that a significant length of the articulated portion vertebrae chain 120 has been fed from the storage drum 180 and has been used to correspondingly extend the rigid deployed section 170. A corresponding amount of cable 140 has now been controllably released from the tensioning device 150.

[0174] Finally, Figure 2D shows a condition in which the apparatus 100 has pushed the cone penetrometer 130 to a maximum depth, which is dictated by the length of vertebrae chain 120 provided with the apparatus 100. It will be seen that all of the plurality of vertebrae 123 in the vertebrae chain 120 have been pushed towards the soil S by the drive 160, such that they are all in the compressed state and forming part of the rigid deployed section 170. There are no longer any articulated vertebrae 123 stored on the storage drum 180, however the cable 140 remains coiled around the storage drum 180, passing through the guides 181.

[0175] The cable 140 is maintained under a suitable tension retaining the vertebrae 123 in the compressed state and for ensuring stability of the rigid deployed section 170. The length of cable 140 wound onto the spool 151 of the winch that provides the tensioning device 150 has been significantly reduced. In practice the total length of cable 140 should be selected to ensure that at least some cable can remain wound onto the spool 151 when the vertebrae chain 120 is. completely deployed in a cone penetration test.

[0176] It will be appreciated that, after the cone penetration test is completed, the recovery of the vertebrae chain 120 will generally follow a reversal of the above described deployment process. The tensioning device 150 may be operated in a reversed direction to retrieve the cable 140 and thus pull the vertebrae chain 120 from the soil. The tensioning device 150 may be operated to control the tension applied to the cable 140 during recovery of the vertebra chain 120.

[0177] The drive 160 may also be operated in reverse to progressively engage vertebrae 123 and lift them from the soil S as the vertebrae chain 120 is being recovered. However this is not essential and in one example, the drive 160 may be disengaged from the vertebrae chain 120 and the vertebrae chain 120 may be recovered entirely under the action of the cable 140 and the tensioning device 150.

[0178] As the vertebrae 123 are progressively pulled out of the soil S they are moved along the path of the cable 140 and guided onto the storage drum 180 by the guides 181 for storage. Additional guiding equipment (not shown) may be provided to ensure that the vertebrae 123 are smoothly guided onto the storage drum 180. The entirety of the vertebrae chain 120 may be completely retracted and stored on the storage drum 180. Alternatively, the recovery of the vertebrae chain 120 may cease when the cone penetrometer 130 has just been lifted from the surface of the soil S, in which case the apparatus 100 will be returned to the state depicted in Figure 2A.

[0179] It will be appreciated that the above described process for using the apparatus 100 to conduct a cone penetration test can be carried out automatically and without requiring manual intervention, whilst allowing continuous real-time data to be transmitted from the cone penetrometer 130 throughout the test. The apparatus 100 is thus well suited to conducting cone penetration testing in environments in which manual involvement is prohibitive, such as in deep underwater testing of seabed soils. [0180] Embodiments of the apparatus 100 may be particularly adapted for underwater applications such as conducting cone penetration testing on seabed soil, as shown in the example of Figure 3. In this example, the apparatus 100 may be configured to be deployed to the seabed using a launch and recovery system (LARS) 310 provided on a surface vessel 320. The launch and recovery system 310 may be similar to those used to deploy a conventional remotely operated submersible vehicle (ROV).

[0181] The apparatus 100 may further include a deployment winch 330 connected to an umbilical cable 340 extending from the launch and recovery system 310. The deployment winch 330 may include an active heave compensation system, for allowing heave loads due to ocean swells and other relative motions between the surface vessel 320 and the apparatus 100 to be compensated without placing the umbilical cable 340 under excessive strain.

[0182] Although it is possible for the apparatus 100 to include its own power supply, more typically the umbilical cable 340 will include an electrical power cable for delivering electrical power from the surface vessel 320 to the apparatus 100. The umbilical cable 340 may also include a data cable for allowing data communications between the apparatus 100 and the surface vessel 320. This allows real-time transmission of data along the umbilical cable 340 to the surface vessel 320 whilst the cone penetration test is conducted. However, this is not essential and data may be relayed between the apparatus 100 and the surface vessel 320 using other techniques, such as by using wireless communications techniques.

[0183] Alternatively, the cone penetration test data may be stored locally on the apparatus 100 for later access once the apparatus 100 is recovered using the launch and recovery system 310, in the event real-time access to the data is not required.

[0184] The data cable may also allow control signals to be transmitted to the apparatus 100, or alternatively, separate control cables may be provided for the dedicated transmission of control signals. In any event, the control signals may be simply used to start or stop an automatic cone penetration test, and/or to allow fine control of test parameters as required, such as the push rate of the drive 160 or the tension applied to the cable 140 by the tensioning device 150. [0185] As mentioned previously, elements of the apparatus 100 such as the drive 160 and/or the tensioning device 150 may be hydraulically actuated. Accordingly, the apparatus 100 may further include a hydraulic pump 350 for hydraulically actuating at least one of these elements. The use of hydraulics may be particularly desirable in underwater environments because hydraulic actuators can be less susceptible to problems due to underwater operations compared to electric motors and the like.

[0186] The hydraulic pump 350 may be powered by electrical power supplied to the apparatus 100 from a separate electrical power source, such as a generator onboard the surface vessel 320, in which case the power can be supplied via the above discussed electrical power cable provided in the umbilical cable 340.

[0187] An example of a vertebra 400 suitable for forming the vertebrae chain 120 of the apparatus 100 discussed above will now be described with reference to Figure 4. Figure 4 shows a cross section of the vertebra 400 which in this example has an axisymmetric shape about an axis which is defined concentrically with the aperture 124 which extends centrally through the vertebra 400.

[0188] It should be appreciated that the depicted vertebra 400 does not necessarily represent a practical construction and more typically the vertebra 400 will be constructed from a plurality of parts to facilitate the manufacture and assembly of the vertebra 400. However, the vertebra 400 has been simplistically depicted as a single part for the sake of illustrating its basic geometric characteristics and functionality.

[0189] In general terms, the vertebra 400 has an outer surface 410 which is engaged by the drive 160 in use. In this example, the outer surface 410 is cylindrical and thus has a circular cross section shape, although this is not essential and in other examples the outer surface 410 may define any geometric shape suitable for engagement by the drive 160. For instance, other forms of vertebrae 400 may be provided having outer surfaces 410 with cross sections of regular geometric shapes such as a square or a hexagon, which may allow for improved engagement by suitably configured drive wheels 161.

[0190] The vertebra 400 includes a ball member 420 extending from one end and a socket 430 recessed inside an opposing end. In this example the ball member 420 is positioned at the end of an elongated connecting portion 421 which extends from a frustoconical tapered portion 422 which tapers inwardly from the outer surface 410. A similarly dimensioned frustoconical recess 431 is provided at the opposing end of the vertebra 400 such that the recess 431 forms an opening in one end of the socket 430.

[01911 A coaxial aperture 401 extends through the vertebra 400 and forms a smaller opening on the other end of the socket 430. As discussed above the channel 124 extending along the vertebrae chain 120 may be defined using such apertures 401 of the vertebrae 400.

[0192] Adjacent vertebrae 400 having this construction may be coupled together using '

/ . . . .

respective ball and socket joints formed using the ball member 420 and the socket 430. It will be appreciated that the socket 430 defines a socket volume which is substantially greater than the ball member 420. This helps to facilitate the articulation of coupled vertebrae 400 as will be discussed below.

[0193] Different configurations of such ball and socket joints are illustrated in Figures 5A to 5C, which respectively show examples of three vertebrae 400 coupled together in an uncompressed and aligned state, an uncompressed and articulated state, and a compressed state. With reference to Figures 5 A to 5C, it can be seen that the ball member 420 of a vertebra 400 may be positioned in the socket 430 of an adjacent vertebra 400, to thereby couple the adjacent vertebrae 400 together.

[0194] It should be noted that, in practical embodiments, the vertebrae 400 may be constructed using multiple parts which can be assembled together to form the vertebrae 400 in a vertebrae chain 120 as discussed above, so that the respective ball members 420 and sockets 430 of adjacent vertebrae 400 can be coupled together as an outcome of the assembly. Detachable means for locking the ball member 420 into place inside the sockets 430 may be provided. '

[0195] With regard to Figure 5A, the vertebrae 400 are uncompressed and separated in a longitudinal direction to the maximum extent allowed by the ball and socket joints coupling the adjacent vertebrae together. The vertebrae 400 are also aligned longitudinally in this case, although it will be understood that they will be allowed to articulate due to the gaps formed between the tapered portion 422 and the recess 431. [0196] Figure 5B shows the same vertebrae 400 of Figure 5 A when articulated. Each of the ball and socket joint coupling the adjacent vertebrae 400 can be articulated so that the adjacent vertebrae 400 are arranged at an angle with respect to one another. Suitably configured vertebrae 400 can thus be used to form a vertebrae chain 120 having sufficient articulation to allow it to be coiled for storage as discussed above.

[0197] When the vertebrae 400 are compressed together, as shown in Figure 5C, the ball members 420 are able to move inside the respective sockets 430 of adjacent vertebrae to allow the tapered portions 422 and the recesses 431 of the adjacent vertebrae to engage with one another. Thus, the compressed vertebrae 400 will form a rigid deployed section 170 which can be used to push the cone penetrometer 130 into the soil S as discussed above.

[0198] The complementary frustoconical shapes of the tapered portion 422 and the recess 431 of each vertebra 400 causes the adjacent vertebrae 400 to be rigidly aligned in the compressed state. It will be appreciated that even if the vertebrae 400 are compressed from an articulated state as shown in Figure 5B, the shape of the recess 431 will guide the tapered portion 422 into an aligned position as coupled vertebrae are moved towards one another in the longitudinal direction, thus ensuring a straight rigid deployed section 170 is formed.

[0199] Accordingly, the vertebrae 400 are configured such that the ball and socket joints are allowed to articulate unless the adjacent vertebrae 400 are compressed together, in which cause respective load bearing portions of the adjacent vertebrae 400 become engaged and lock the adjacent vertebrae 400 in rigid alignment.

[0200] Turning again to Figure 5C, it can be seen that the respective outer surfaces 410 are aligned to form a generally uniform cylindrical outer surface along the rigid deployed section 170 that is formed when the vertebrae are compressed together. This allows the drive 160 to smoothly engage and push the vertebrae 400 towards the soil S during cone penetration testing, without significant discontinuities which might otherwise introduce unwanted artifacts into the data measured at the cone penetrometer 130.

[0201] It can also be seen that in each of the configurations depicted in Figures 5 A to 5C, the concentrically formed apertures 401 of each vertebra 400 will collectively define the channel 124 in the form of a conduit extending through the resulting vertebrae chain 120, thus allowing the cable 140 to pass along the conduit regardless of whether the vertebrae 400 are coupled together in a compressed or uncompressed state. The aperture 401 of each vertebrae may have enlarged openings at each end to help to eliminate any bending of the cable 140 which might occur during articulation, although this is not essential.

[0202] In one example, each vertebra 400 may include at least one port for allowing fluid communication between the conduit and the outer surface 410 of the vertebra. In particular, this can allow the conduit to be pressurized via the respective ports of the vertebrae 400. In underwater applications, the conduit can be pressurized with water and the ports can be strategically located to ensure that the couplings between the vertebrae 123 remain free of debris and sediment.

[0203] An alternative example of a vertebra 600 suitable for forming the vertebrae chain 120 of the apparatus 100 discussed above will now be described with reference to Figure 6. As was the case for the previous example, Figure 6 shows a cross section of the vertebra 600 which has an axisymmetric shape about an axis which is defined concentrically with an aperture 601 which, extends coaxially through the vertebra 600. In this example, the vertebra 600 includes a socket 430 and recess 431 at each end which may be of generally similar construction as the same features of the previous example vertebra 400.

[0204] The vertebra 600 is configured to cooperate with a coupling member which has a suitably configured ball member 420 at each end. Accordingly, adjacent vertebrae 600 may be coupled together using ball and socket joints provided at respective ends of each coupling member. Examples of coupling members are illustrated in Figures 7 and 8 and will be described in further detail below.

[0205] Figures 7 and 8 respectively depict a first example of a coupling member 700 and a second example of a coupling member 800. Each coupling member 700, 800 includes a ball member 420 provided at each end, extending from an elongated connecting portion 421 which itself extends from a frustoconical tapered portion 422. Each coupling member 700, 800 further includes a respective coaxial aperture 701, 801 similar to that of the vertebrae 601. [0206] Both examples of the coupling members 700, 800 are suitable for use with the vertebra 600 shown in Figure 6. The main differences between the two coupling members 700, 800 reside in the length of the coupling member and the outer diameter of the coupling member, which dictates the shape and functionality of the connecting portion 710, 810 extending between the ball members 420.

[0207] In the first example coupling member 700 shown in Figure 7, the overall length of the coupling member 700 has been selected to as to allow the coupling member 700 to be substantially encased within the adjacent vertebrae 600 when these are compressed together. This will become more apparent with regard to the examples of use of the vertebra 600 and coupling member 700 depicted in Figures 9A to 9C, which respectively show these parts in operation in an uncompressed and aligned configuration, an uncompressed and articulated configuration,* and a compressed configuration.

[0208] As will be seen in Figures 9A to 9C, the ball members 420 and sockets 430 of the coupling member 700 and the vertebrae 600 interact in a generally similar manner as described previously in Figures 5A to 5C. In contrast to that previous example, however, each vertebra 600 is coupled to the next adjacent vertebra 600 using two ball and socket joints, one at each end of each coupling member 700. This can allow increased articulation angles to be achieved compared to the example which does not use coupling members, assuming all other parameters of the ball and socket joints remain the same.

[0209] As can be seen in Figure 9C, the coupling members 700 have a length which allows them to be encased within adjacent vertebrae 600 when these are compressed together. Accordingly, this ensures that only the outer surfaces 610 of the vertebrae 600 are exposed for engagement by the drive 160 in use, and helps to minimise discontinuities that may be encountered by the drive 160 by presenting a substantially and uniform cylindrical surface along the rigid deployed section 170 formed by the compressed vertebrae 600.

[0210] Alternatively, however, the coupling member 800 shown in Figure 8 may be used to couple the vertebrae 600 together in a slightly different fashion, as depicted in Figures 10A to IOC. Figure 10A shows an example of vertebrae 600 coupled together using coupling members 800 in an uncompressed and aligned state, Figure 10B shows the same components in an uncompressed and articulated state, and Figure IOC shows the components in a compressed state.

[0211 J In this case, the increased length and diameter of the coupling member 800 compared to the previously discussed example coupling member 700 results in an outer coupling surface 810 to be exposed between the outer surfaces 610 of the vertebrae 600 that are coupled together. The outer coupling surface 810 can be engaged by the drive 160 in use, such that the drive 160 can urge the outer surfaces 610 of the vertebrae 600 and the outer coupling surfaces 810 of the coupling members 800 alternatively as the cone penetrometer 130 is pushed into the soil S.

[0212] Preferably, the outer coupling surface 810 will have an outer diameter that is substantially equal to that of the outer surface 610 of the vertebrae. This ensures that a uniform cylindrical surface is provided along the rigid deployed section 170 when the vertebrae 600 are compressed together. In this case the rigid deployed section 170 includes alternative rod segments contributed by the vertebrae 600 and the coupling members 800. The joints between the vertebrae 600 and the coupling members 800 should be designed so as to present minimal discontinuities so as to allow smooth operation of the drive 160.

[0213] A further example will now be described with reference to Figure 1 1. In this example, the apparatus 1100 is similar to that shown in Figures 1A to 1C, and similar reference numerals will be used to refer to similar components, which will not therefore be described in further detail.

[0214] In this example, a locking drive 1 160 is provided between the drive 160 and the storage drum' 180 for locking vertebrae 123 prior to these being deployed by the drive 160. To achieve this, the locking drive 1160 typically includes at least two locking drive wheels 1 161 configured to engage with an outer surface of a vertebra 123 positioned therebetween and to urge that vertebra 123 towards the drive 160. In use the locking drive wheels 1 161 rotate faster than the drive wheels 161, thereby urging the vertebrae 123 into engagement before these are subsequently deployed using the drive 160. Typically the locking drive wheels 1 161 are applied with less pressure than the drive wheels 161, thereby allowing slippage to occur once the vertebrae 123 are engaged. [0215] In this example, a fluid supply 1 140 is provided in fluid communication with the channel 124 of the vertebrae chain 120, allowing a fluid, such as water, to be provided thereto. The fluid is typically provided under pressure, with the vertebrae 123 sealingly engaging to allow the channel 124 to be positively pressurised. The fluid supply 1 140 may be provided in the form of a fluid pump capable of providing fluid at a suitable positive pressure, and the pressurised fluid may be supplied to the channel 124 using a suitable hose 11 1 connected to the vertebra 123 at the proximal end 122 of the vertebrae chain 120. The hose 1 141 may be deployed or retracted from the fluid supply 1 140 as the vertebrae chain 120 is deployed or retracted.

[0216] In this example, pressure relief valves can be provided in each of the vertebrae 123 in fluid communication with the channel 124, allowing excess pressure to the vented. In use, this allows a positive pressure to be provided in the channel 124.

[0217] The provision of positive pressure within the joints between vertebrae 123 can help eliminate debris build up in the joints so as to ensure un-compromised articulation and compression can occur. Additionally, this can assist in relieving a stiction situation, allowing an operator to increase internal pressure within the channel 124, blowing away and lubricating the walls of the hole formed in the soil S by the deployment of the vertebrae chain 120, allowing removal of the vertebrae chain 120 during recovery.

[0218] Additionally, the storage drum 180 will typically include a friction reducing surface to ensure easy movement of the vertebrae 123 over the storage drum 180 as the vertebrae 123 are deployed, and in particular to allow free sliding movement of the vertebrae 123 through the guides 181 of the storage drum 180 whilst the articulated vertebrae 123 are tightly coiled on the storage drum 180 due to the tension applied to the cable 140. In one example, this can be in the form of a friction reducing coating, ball bearings, roller bearings, or the like.

[0219] Further examples of practical implementations of elements of the sensor deployment apparatus will now be described. Figures 12A to 12C illustrate a chain distal end of an example implementation of a vertebrae chain and its connection to a sensor for deployment.

[0220] In this example, the sensor is provided in the form of a cone penetrometer 1230 extending from the chain distal end of the vertebrae chain. The vertebrae chain is provided using an interconnected vertebrae arrangement similar to that previously exemplified in Figures 10A to IOC. Accordingly, the vertebrae chain is formed from interconnected vertebrae which are coupled together using ball and socket joints. The ball and socket joints are provided by alternating ball vertebrae 1210 and socket vertebrae 1220, where each ball vertebra 1210 has ball members provided at respective ends and each socket vertebra has sockets provided at respective ends.

[0221] The vertebrae chain terminates at a terminal vertebra 1240, which in this example provides a final socket for receiving a ball member of the final ball vertebrae 1210 of the vertebrae chain. The terminal vertebra 1240 facilitates the connection of the vertebrae chain to the cone penetrometer 1230. In this example, the terminal vertebra 1240 is connected to a connection cone 1250, which is in turn connected to a connection bar 1260, to which the cone penetrometer 1230 is attached.

[0222] As can be seen in Figure 12A, the cone penetrometer 1230 has a reduced diameter compared to diameters of respective outer surfaces of the ball vertebrae 1210 and socket vertebrae 1220 (which are substantially similar to allow smooth engagement by the drive as per examples above). Accordingly the connection cone 1250 is tapered so as to transition from the outer surface diameters of the vertebrae ] 1210, 1220, and particularly the terminal vertebra 1240 to which it is connected, to the reduced diameter of the cone penetrometer 1230. In this example, the connection bar 1260 has a similar outer diameter as the cone penetrometer 1230.

[0223] The connection bar 1260 can be seen to have an elongate configuration such that the cone penetrometer 1230 is provided at a significant distance from the diameter transition provided by the taper of the connection cone 1250. This can help to prevent interference in measurements performed by the cone penetrometer 1230 during penetration of soil, for example due to disturbance of the soil in the vicinity of the vertebrae as larger diameter components are pushed through the soil.

[0224] Further details of the connections between components as assembled in Figure 12A can be seen in the cross-section view depicted in Figure 12B and the exploded view depicted in Figure 12C. [0225] With particular reference to Figure 12B it can be seen that the vertebrae components 1210, 1220 and the connecting components including the connection bar 1240, collectively define a continuous channel which extends to the cone penetrometer 1230. This channel can allow for data communication between the cone penetrometer 1230 and a remotely positioned processing system via data communication cables (not shown) extending along the channel. Accordingly, data can be communicated as the tip 1231 of the cone penetrometer 1230 is driven into soil using, an array of sensors provided within the cone penetrometer 1230 to measure penetration data. In one example, data communication cables or the like may be connected to the cone penetrometer 1230 as part of the mechanical connection between the connection bar 1240 and the cone penetrometer 1230.

[0226] The cone penetrometer 1230 may include a threaded connector 1232 which threadingly engages with a corresponding threaded connector 1261 at a distal end of the connection bar 1260. At an opposite proximal end of the connection bar 1260, the connection bar includes a further threaded coimector 1262 which may also be threadingly connected to a corresponding threaded connector 1251 at the reduced diameter end of the connection cone 1250. In turn, another threaded connector 1252 may be provided at the opposing larger diameter end of the connection code 1250 for allowing the terminal vertebra 1240 to be threadingly connected to the connection cone 1250 by another threaded connector 1241.

[0227] Thus, the assembly of the cone penetrometer 1230, the connection bar 1260, the connection cone 1250 and the terminal vertebra 1240 are threadingly connected to form a substantially rigid structure extending between the tip 1231 of the cone penetrometer 1230 and the final vertebra in the vertebrate chain, which in this case is a ball vertebra 1210.

[0228] As pre previous examples, a cable will be coupled to the chain distal end and will extend through a channel defined throughout the vertebra chain, such that when tension is applied to the cable and the vertebrae are driven towards the soil during deployment this, will cause the vertebrae 1210, 1220 to compress and assume a rigidly interlocked configuration.

[0229] In this example, a load-carrying portion of the cable will be terminated at the terminal vertebra 1240. This is possible since the components located distally from the terminal vertebra 1240 are already connected to form an effective rigid structure and hence there is no need to compress those components using the cable. By terminating the load-carrying portion of the cable prior to the cone penetrometer 1230, undue compression loading of the elongated connection bar 1260 and direct loading of the cone penetrometer 1230 due to the tension in the cable (which may cause spurious sensor measurements) can be avoided.

[0230] As can be seen in Figure 12B, the terminal vertebra 1240 may include a distally expanding recess 1244 which can allow the cable (not shown) to be podded into the terminal vertebra 1240. The podding may involve splaying ends of the cable apart inside the recess 1244, such as by separating strands of a steel rope cable, and filling the recess 1244 using a suitable resin or the like to form an enlarged cable end within the recess 1244. The enlarged cable end will be unable to retract inside the channel defined through the vertebrae chain in use as it will be retained in the recess 1244 of the terminal vertebra 1240 when the cable is under tension. Although the load-carrying portion of the cable may be terminated in the terminal vertebra 1240, one or more data communication cables may extend from the enlarged cable end through the connection cone 1250 and connection bar 1260, and may be terminated at the cone penetrometer 1230 to complete the data communications connection between the cone penetrometer 1230 and the remotely located processing system.

[0231] As can be best seen in Figure 12C, the ball vertebrae 1210 and the socket vertebrae 1220 are each formed as an assembly of components which are assembled in a particular sequence to allow coupling between the respective vertebrae components. As discussed above, the ball and socket joints between the ball vertebrae 1210 and the socket vertebrae 1220 facilitate reconfiguration between an uncompressed state in which the vertebrae may articulate in respect to one another and a rigidly interlocked state when vertebrae are compressed together.

[0232] In particular, each ball vertebra 1210 is formed as an assembly of a ball coupling component 121 1 and two ball components 1212, one mounted on each end of the ball coupling component 121 1. Each socket vertebra 1220 is formed as an assembly of a socket joint component 1221 and two socket components 1222, one mounted on each side of the socket joint component 1221. [0233] In order to illustrate further details of the interconnections between the vertebrae 1210, 1220, an example of several assembled and interconnected vertebrae components are shown in Figures 13A to 13G, in different states.

[0234] Figures 13A and 13B each show a portion of vertebrae chain including two ball vertebrae 1210 and a socket vertebra 1220. Each ball vertebra 1210 is connected to a respective socket at each end of the socket vertebra 1220. Figure 13A shows the vertebrae 1210, 1220 in an uncompressed state, and Figure 13B shows a cross-sectional view of the same vertebrae 1210, 1220 in the same uncompressed state as shown in Figure 13 A. When the vertebrae 1210, 1220 are in the uncompressed state, the ball and socket joints between the ball vertebrae 1210 and the socket vertebra 1220 enable articulation at the connections between the vertebrae 1210, 1220, as depicted in Figures 13C to 13E.

[0235] With reference to the cross section view of Figure 13B, it can be seen that the ball component 1212 of each ball vertebra 1210 is retained inside a respective socket component 1222 of the socket vertebra 1220. The socket component 1222 defines an internal socket recess 1223 in which the ball component 1212 is allowed to pivot to thereby allow articulation of the ball and socket joint provided using the ball component 1212 and socket component 1222, as can be best seen in Figure 13E which shows a cross section view of the vertebrae 1210, 1220 in an uncompressed, articulated state.

[0236] In this example, a spring 1201 is provided inside each socket component 1220 and is positioned between each pair of ball components 1212 coupled to the same socket vertebra 1220, as shown in Figures 13B and 13E. The spring 1201 is configured to bias the ball components 1212 in the pair towards the opposing ends of the socket vertebra 1220 such that when the vertebrae 1210, 1220 will naturally remain biased apart when uncompressed. Thus the spring 1201 will help to keep the vertebrae 1210, 1220 expanded so as to prevent unwanted interlocking of the vertebrae 1210, 1220. Thus, the ball components 1212 will be allowed to pivot inside the respective socket recess 1223 for articulation of the ball and socket joints. This allows the vertebrae 1210, 1220 to articulate freely whenever they are not being compressed using the cable during deployment. It is also noted that the cable passing along the channel through the vertebrae chain will extend between each pair of ball components 1212 inside the spring 1201. [0237] Figures 13F and 13G illustrate the same portion of the vertebrae chain as Figures 13A to 13E, although in this case the vertebrae 1210, 1220 are compressed such that the vertebrae are rigidly interlocked. It will be appreciated that this compression will occur during deployment of the sensor into soil, as deployed vertebrae are driven by the drive against tension applied to the cable.

[0238] As can be seen in Figures 13F and 13G, the ball vertebrae 1210 have each moved toward the socket vertebra 1220 such that the length of the portion of the vertebrae chain has effectively been reduced. Turning to Figure 13G, it can be seen that each ball component 1212 have moved within the socket recess 1223 defined inside each socket component 1222 such that a lip 1213 of the ball component 1212 is now an engagement with a complimentary shoulder 1224 defined on an inside surface of the socket joint component 1221.

[0239] This engagement between the lip 1213 and the shoulder 1224 provides a continuous load path between the ball components 1212 and the socket joint component 1221 so that the ball vertebrae 1212 and the coupling vertebra 1211 form an effective rigid structure when under compressive loading. The socket joint component 1221 may also include a profiled rim extending from the shoulder 1224 to allow engagement between the socket joint component 1221 and ball component 1212 over an increased surface area, and to laterally restrain the ball component 1212 for ensuring rigid interlocking between the ball component 1212 and the socket joint component 1221 and substantially preventing articulation in this rigid interlocked state.

[0240] When the vertebrae are compressed together as shown in Figures 13F and 13G, the spring 1201 positioned between the ball components 1212 will be compressed. However, the stiffness of the spring 1201 will be selected so that the biasing force provided by the spring 1201 is insufficient to overcome the force applied to the vertebrae to achieve a compressed state. When the vertebrae are uncompressed, such as during recovery of the vertebrae chain following deployment, the compressed spring 1201 will exert a biasing force on the ball components 1212 and thus cause these ball components 1212 to move apart and become positioned within the socket recess 1223 of the respective socket component 1222, thus allowing articulation as described previously with reference to Figure 13B. [0241] Further details of the assembly of components forming the ball vertebra 1210 can be seen in Figures 14A to 14C. As shown in Figure 14B, ball connecting members 1214 may extend from opposing ends of the ball coupling component 121 1 to allow connection of the ball components 1212. Turning to Figure 14C, which shows internal details of the ball vertebra 1210, it will be seen that the ball connecting member 1214 includes a threaded surface 1412 and the ball component 1212 includes a complimentary threaded surface 1413, allowing the ball component 1212 to be threadingly engaged with the ball connecting member 1413.

[0242] The ball coupling component 1211 includes a conduit 1215 extending between its ends. This conduit 1215 forms a portion of the channel extending through the vertebrae chain. Similarly, each ball component 1212 includes an aperture 1415 defined within the lip 1213, as can be seen in Figure 14C. The aperture 1415 has a diameter similar to that of the conduit 1215, such that a continuous channel is provided through the assembly of components forming the ball vertebra 1210.

[0243] As shown in Figure 14C, in this example the ball coupling component 121 1 also includes a plurality of ports 1417 which extend between the conduit 1215 and an outer surface of the ball coupling component 1211, forming an array of apertures 1416 on the outer surface. In particular, the apertures 1416 in this example are positioned on the outer surface around a tapering portion of the ball coupling component 1211 so that the apertures 1416 will be positioned in the vicinity of the socket component 1222 when the vertebrae are in a compressed state, as shown in Figures 13F and 13G. As mentioned previously, ports 1417 may be provided in the vertebrae for the purpose of passing pressurised water between the channel defined through the vertebrae and outer surfaces of the vertebrae, which can assist in clearing the interconnections between the vertebrae of dirt and debris during deployment, and generally throughout use.

[0244] It will be appreciated that supplying pressurised water to the conduit 1215 in the ball coupling component 121 1, via the continuous channel defined throughout the vertebrae chain, will promote a flow of water through the ports 1417 and exiting the apertures 1416 so as to effectively flush foreign material from the vicinity of the apertures 1416. This will typically assist in preventing accumulation of soil or another contaminants around the ball socket joints between the ball vertebrae 1210 and the socket vertebra 1220, and thus help to ensure reliable transitions between the uncompressed articulated state and the rigid interlocked state when the vertebrae are compressed.

[0245] Further details of the socket vertebra 1220 can be seen in Fibres 15A to 15C. As can be seen in Figures 15B and 15C, the socket joint component 1221 may be provided with external threaded surfaces 1521 for threadingly engaging with corresponding internal threaded surfaces 1522 provided on the coupling components 121 1. A protruding ridge 1523 extends outwardly from the external threaded surfaces 1521 on the socket joint component 1221, such that the socket components 1222 will be screwed into place until these engage with the ridge 1523.

[0246] Further details of the shoulder 1224 defined inside the socket joint component 1221 for providing engagement with the lip 1213 of the ball components 1212 as discussed above can be seen in Figures 15B and 15C. The socket joint component 1221 also includes an opening 1225 extending between the shoulders 1224 to thereby form a portion of the channel through the vertebrae chain when the socket components 1222 are coupled to the socket joint component 1221. The opening 1225 has a relatively large internal diameter compared to the conduit 1215 passing through the ball vertebrae 1210, and this helps to accommodate the spring 1201 positioned between the two ball vertebrae 1210 along with the cable extending inside the spring 1201, particularly when the ball vertebrae 1210 are allowed to articulate with respect to the socket vertebra 1220.

[0247] It will be appreciated that pressurised water supplied through the channel of the vertebrae chain will be allowed to enter the socket recess 1223 defined within the socket components 1222, and this will further assist in the flushing of soil and other debris from the ball and socket joints.

[0248] In this example, the socket vertebra 1220 includes a locking screw 1501 which may be screwed into a threaded screw hole 1525 for locking the socket components 1222 to the socket joint component 1221 when the vertebrae chain is assembled. In particular, the socket components 1222 will screwed completely on to the socket joint component 1221 using the respective threaded surfaces 1521, 1522 until a notch 1526 formed in each socket component 1222 is aligned with the screw hole 1525. The locking screw 1501 is then fastened into the screw hole 1525 and the notch 1526 in each socket component 1222 will engage with at least a portion of the screw 1501 to thereby prevent unscrewing of the socket components 1222.

[0249] In view of the above description of components it will be appreciated that the ball vertebrae 1210 and socket vertebrae 1220 in this example cannot simply be connected together in their respective assembled states, given the close engagement between the ball and socket joints formed by the ball components 1212 and the socket components 1222. Instead, the ball vertebrae 1210 and the socket vertebrae 1220 will typically assembled together in a particular sequence such that the ball components 1212 are retained within respective sockets components 1222 during assembly.

[0250] The sequence of assembly in this example is illustrated in the exploded view of Figure 12C. It can be seen that the sequence of assembly will include placing a ball component 1212 within a socket component 1222 (which can be attached to a socket joint component 1221 or the terminal vertebra 1240) and then attaching the ball component 1212 to one end of a ball coupling component 121 1. At the other end of the ball coupling component 121 1, another socket component 1222 is interposed between the ball coupling component 121 1 and the next ball component 1212, so that the ball component 1212 can be attached to the ball coupling component 1211 whilst being retained inside the socket recess

1223 of the socket component 1222. The socket component 1222 can then be connected to a socket joint component 1221 in turn, and the aforementioned sequence of assembly can be repeated as required. Although not shown in Figures 12C, a spring 1201 will typically be provided between each opposing pair of ball components 1212 inside of the socket joint component 1221 used to connect the socket components 1222 retaining each ball component 1212, as described above.

[0251] It will be seen that the vertebrae chain is connected to the terminal vertebra 1240 using a similar sequence of assembly, whereby a ball component 1212 is retained inside a standard socket component 1222, and the socket component 1222 is screwed onto the connecting end 1241 of the terminal vertebra 1240. In this case, a further spring 1201 is provided between the final ball component 1212 which forms the ball and socket joint connecting the vertebrae chain to the terminal vertebra 1240. This spring 1201 biases the ball component 1212 into a suitable position within the socket component 1222 to allow articulation in a similar manner as discussed above for the other ball and socket joints along the vertebrae chain.

[0252] It will be appreciated that, whilst the above examples have been described with regard to the deployment of a sensor into soil, similar apparatus using a vertebrae chain as described above may be used for deploying other equipment. For instance, the sensor (such as the cone penetrometer) of previous examples may be replaced by a drill bit for allowing the apparatus to be used for drilling into the soil as the vertebrae chain is deployed. In particular examples using a rotating drill bit in place of a sensor, a rotational drive for driving the rotating drill bit may also be provided at the distal end of the vertebrae chain. The rotation drive may be electrically powered by electrical energy conveyed along the cable through the vertebrae chain. Alternatively, the rotation drive may be fluid powered, with pressurised water being supplied to the rotation drive via the channel extending along the vertebrae chain. In any event, it will be appreciated that the deployment of the drill bit into the soil may otherwise be achieved in a similar manner as per the sensor deployment examples described above.

[0253] As discussed previously with reference to Figures 1 A and IB, the sensor deployment apparatus 100 may include a storage drum 180 for storing an articulated portion of the vertebrae chain. Further details of an example implementation of a storage drum assembly 1600 will now be described with regard to Figures 16A to 16C.

[0254] In this example, a storage drum 1610 is mounted to a drum support frame 1620 using a drum connecting hub 1621, such that the storage drum 1610 remains stationary in relation to the drum support frame 1620. As can be best seen in the exploded view of Figure 16B, the storage drum 1610 may include a cylinder 1611 upon which the vertebrae chain can be coiled for storage. The cylinder 161 1 of the storage drum 1610 may be closed using end caps 1612 to provide a rigid barrel arrangement. In this example, each drum connecting hub 1621 is attached to one of the end caps 1612. An outer shroud 1613 may also be fitted to the outside of the storage drum 1610.

[0255] Cylinder guides 1614 may be provided on an outer surface of the cylinder 161 1 for defining a helical path for the articulated portion of the vertebrae chain to move through during deployment and retrieval operations. These cylinder guides 1614 may be defined as a helical groove extending around the outer surface of the cylinder 1611 and being configured to accommodate the vertebrae chain. In the case of a vertebrae chain having a generally circular cross sectional profile as per the examples described above, the cylinder guides 1614 will typically have a generally semi-circular profile, with an internal diameter at least as large as an outside diameter of the vertebrae.

[0256] Corresponding shroud guides 1615 may also be provided on an inner surface of the outer shroud 1613 to allow the vertebrae to be substantially enclosed between the guides 1614, 1615 of the cylinder and the shroud 1613. In this example, the respective guides 1614, 161 cooperate to define a helical passageway having a generally circular cross section for storing the articulated portion of the vertebrae chain. This circular cross section can be best seen in the cross section view of Figure 16B. The shroud guides 1615 can help to ensure the articulated vertebrae chain is retained in the cylinder guides 1614 properly. This can help to prevent overlapping of windings of the vertebrae chain on the storage drum 1610.

[0257] In one example, the cylinder guides 1614 may be defined integrally with the cylinder 1611 , such as by moulding or machining helical grooves into the outer surface of the cylinder 161 1.

[0258] Alternatively, one or more moulded sections defining the grooves may be fitted to the outer surface of the cylinder 1611 for providing the cylinder guides 1614. It will be appreciated that this may allow replacement of moulded sections in the event of wear in the grooves due to movement of the vertebrae chain therewithin, without requiring replacement of structural portions of the cylinder 161 1. Furthermore, such an arrangement can allow the cylinder 1611 to be formed from a suitably strong structural material such as aluminium or any other suitable metal, or a composite material, whilst the moulded sections can be formed from a different material having other desirable characteristics. For instance, the moulded sections for providing the guides 1614 may be formed from a suitable plastic material such as high-density polyethylene (HDPE) or the like. In one example, known low friction materials such as polytetrafluoroethylene (PTFE) or the like may be used to form at least a portion of the moulded sections to facilitate smoother movement of the vertebrae chain within the guides 1614. [0259] It will be appreciated that the shroud guides 1615 may also be provided on the shroud 1613 either integrally or as separate moulded sections, in a similar manner as discussed above for the cylinder guides 1614. In one example, the outer shroud 1613 may be formed using a plurality of outer moulded sections defining the shroud guides 1615. Outer moulded sections may be secured together using any suitable fastening technique to form an effective shroud 1613 surrounding the cylinder 161 1.

[0260] Preferably, the outer shroud 1613 will be formed in such a way as to allow access to the guides 1614, 1615 and the articulated vertebrae that may be stored inside, such as the purpose of performing maintenance of the vertebrae when stored. In one example, the outer shroud 1613 may include movable shroud portions that are hingedly connected together to allow the movable shroud portions to be swung apart for facilitating removal of the shroud 1613 from the cylinder 1611. Suitable fasteners can be used to secure the shroud portions together to form a single effective outer shroud 1613 during normal use.

[0261] As can be seen in Figures 16A to 16C, the outer shroud 1613 may also include shroud apertures 1616 extending between an outer surface of the outer shroud 1613 and the shroud guides 1615. The shroud apertures 1616 can allow visible inspection of the articulated vertebrae stored on the storage drum 1610, and can also allow for fluid communication between the guides 1614, 1615 and the external environment. Accordingly, during underwater sensor deployment operations, water can be allowed to enter the helical passageway defined by the guides 1614, 1615 as the articulated vertebrae chain moves through the helical passageway. This can help to prevent debris from accumulating within the helical passageway which could otherwise impede movement of the articulated vertebrae chain. Furthermore, in one example the helical passageway may be manually flushed of debris as required by introducing a jet of water through the shroud apertures 1616 or through a separate opening in the. shroud 1613 such that water can escape through the shroud apertures 1616.

[0262] The storage drum assembly 1600 may also include further features for facilitating movement of the articulated vertebrae chain through the guides 1614, 1615 in use, with reduced frictional resistance to the movement. In the present example, a plurality of roller assemblies 1630 are arranged about the cylinder 1611 such that rollers 1631 mounted on a shaft 1632 of each roller assembly engage with the articulated vertebrae via slots 1617 defined through the cylinder 161 1 , such that the articulated vertebrae can move along the rollers 1631 in use with reduced sliding contact with the guides 1614, 1615.

[0263] It will be appreciated that the use of the rollers 1631 will significantly reduce the friction encountered by the articulated vertebrae as they move through the guides 1614, 1615 during deployment or retrieval, using a similar a similar principle as for roller conveyor systems. Rollers 1631 are particularly desirable in view of the tension that will be applied to the cable 140 extending through the vertebrae chain in use, as this tension will tend to cause the articulated vertebrae to be tightly coiled around the storage drum 1610, which would otherwise generate substantial factional resistance to movement of the articulated vertebrae.

[0264] The rollers 1631 may be provided in the form of generally circular lobes mounted on the shaft 1632, and may be formed from rubber or any other suitable material for engaging with the articulated vertebrae, preferably without causing wear or contact damage to the vertebrae. The rollers 1631 may be configured to frictionally engage with the vertebrae in use.

[0265] The roller assemblies 1630 may be free-spinning in some examples, such as by mounting the shaft 1632 of each roller assembly 1630 on suitable bearings. However, in this example the roller assemblies 1630 may be driven by roller motors 1633 to positively > promote the movement of the articulated vertebrae chain.

[0266] In this example, each roller assembly 1630 is connected to a roller motor 1633, which may be provided in the form of a hydraulic motor or the like, and each roller motor 1633 will be driven so as to rotate the rollers 1631 at a speed corresponding to the deployment or retraction rate of the vertebrae chain. Accordingly, the operation of the roller motors 1633 will typically be synchronised with the operation of the drive 160 for deploying the vertebrae chain and/or the tensioning device 150.

[0267] Although separate roller motors 1633 are provided for each roller assembly 1630 in this example, in an alternative embodiment each roller assembly 1630 may include a drive gear, whereby each drive gear interfaces with a single driven pinion connected to a central roller motor 1633. This can help to prevent the need to synchronise a plurality of roller motors 1633.

[0268] Whilst the example of Figures 16A to 16C only shows four roller assemblies 1630, it will be appreciated that any number of roller assemblies 1630 may be provided, and that increasing the number of roller assemblies 1630 would tend to reduce the friction between the articulated vertebrae chain and the storage drum 1620 in use. As can be seen in the cross section view of Figure 16B, the cylinder 1611 may include a staggered arrangement of slots 1617 through which the rollers 1631 will interface with the articulated vertebrae chain. This staggered arrangement of the slots 1617 can allow for an even distribution of contact between rollers 1631 and the articulated vertebrae chain, to thereby allow an even reduction of friction along the length of the vertebrae chain.

[0269] As shown in Figure 16A, the vertebrae chain may extend from the storage drum 1610 via an opening in the outer shroud 1613. Thus, as the drive 160 is used to deploy the vertebrae chain into soil, cone penetration testing or the like, the articulated vertebrae chain will be drawn from the storage drum 1610 and fed to the drive 160. The articulated vertebrae chain moves through the guides 161 , with this movement being aided by the rollers 1631.

[0270] Another example implementation of a storage drum assembly 1700 will now be described with reference to Figures 17A to 17C. In this example, the storage drum assembly 1700 includes further adaptations for assisting the movement of the vertebrae chain as it is deployed or retracted. Figures 17A and 17B also depict an example of a winch 1750 which acts as the tensioning device 150 for applying tension to the cable 140 as described in previous examples.

[0271] It will be appreciated that the storage drum assembly 1700 of Figures 17A to 17C shares a number of similarities with the earlier described storage drum assembly 1600 of Figures 16A to 16C, and accordingly, similar features have been assigned similar reference numerals as appropriate. In any event, the features of this example will now be described with particular attention to differences compared to the previous example.

[0272] As per the previous example, the storage drum assembly 1700 includes a storage drum 1710 mounted to a drum support frame 1720 using a drum connecting hub 1721, such that the storage drum 1710 remains stationary in relation to the drum support frame 1720. It will be noted that this example illustrates an alternative structural configuration of the drum connecting hub 1721 having a solid cylindrical structure for connecting the storage drum 1710 to the drum support frame 1720.

[02731 The storage drum 1710 of this example includes a cylinder 1711 upon which the vertebrae chain can be coiled for storage. In this case, the end caps 1712 do not fully enclose the cylinder 1711 but nevertheless provide a rigid barrel arrangement and provide a structural connection between the drum connecting hub 1721 and the cylinder 171 1. It will be noted that no outer shroud is provided in this example, although this may still be optionally provided in a manner similar to that of the earlier example.

[0274] In this embodiment, the cylinder 1711 once again includes cylinder guides 1714 which define a path for guiding movement of the articulated portion of the vertebrae chain during deployment from or retraction onto the storage drum 1710. These guides 1714 may be provided in the form of a helical groove having a semi-circular profile as per the previous example.

[0275] In contrast to the previous example, however, the storage drum assembly 1700 of this example does not include an outer shroud to provide shroud guides for retaining the articulated vertebrae portion in the cylinder guides 1714. Instead, a number of outer roller assemblies 1740 are provided in a radially spaced arrangement, with each outer roller assembly 1740 being offset outwardly from the cylinder 1711 and including a plurality of outer rollers 1741 (best seen in Figure 17C). The outer rollers 1741 not only provide a vertebrae retaining function but also help to reduce friction on the articulated vertebrae as this is moved on the storage drum 1710. The outer rollers 1741 of each outer roller assembly 1740 will typically be mounted on a shaft extending between the two end caps 1712, which is supported by roller support members 1742 positioned between each outer roller 1741. Each outer roller 1741 may have a roller profile configured to substantially conform to outer surfaces of the vertebrae, which can assist in locating the vertebrae in the cylinder guides 1714., [0276] As can be seen in Figures 17B and 17C, a number of engager assemblies 1730 are also provided inside the cylinder 171 1. The engager assemblies 1730 of this example are provided for similar reasons as the internally located roller assemblies 1630 of the previous example and correspondingly have some similarities in configuration. For instance, the engager assemblies 1730 and previously described roller assemblies 1630 each include a shaft 1632, 1732, which can be driven by a motor 1633, 1733 at a speed corresponding to the deployment or retraction rate of the vertebrae chain.

[0277] However, in this example the engager assemblies 1730 include engagers 1731 which are configured such that portions of the engagers 1731 protrude through corresponding slots 1717 in the cylinder 1711 and provide for positive engagement with at least some of the vertebrae in the vertebrae chain. The portions of the engagers 1731 that engage with the vertebrae are able to push the vertebrae along their path of movement through the cylinder guides 1714 during deployment or retraction. It will be appreciated that this can assist the movement of the articulated vertebrae.

[0278] Figure 18 shows a partially exploded view of a engager assembly 1730, where it can be seen that the engager assembly 1730 includes a plurality of engagers 1731 mounted on a shaft 1732. Adjacent engagers 1731 are spaced apart by engager spacers 1801 also mounted on the shaft 1732 between the engagers 1731. The spacing between engagers 1731 will be set so that the engagers 1731 align with the corresponding slots 1717 defined in the cylinder 171 1. An end fitting 1802 is provided at an end of the shaft 1732 to allow the shaft to be coupled to a respective motor 1733, thus allowing the engager assembly 1730 to be driven as mentioned above.

[0279] Further details of an example of a engager 1731 will now be described with reference to Figures 19A and 19B. Each engager 1731 includes a engager body 1901, which in this example is provided in the form of a solid component, which may be formed from metal or any other suitable material.

[0280] The engager body 1901 defines a mounting aperture 1902 for allowing the engager body 1901 to be mounted on a shaft 1732 as discussed previously. In this example the mounting aperture 1902 has a rounded square shape to match the corresponding shaft 1732 cross section, but it will be appreciated that any matching shaft 1732 cross section and mounting aperture 1902 shapes may be used.

[0281] The engager body 1901 includes a number of engager arms 1903 which protrude radially from the engager body 1901 and are provided in an equally spaced arrangement. Each engager arm 1903 provides a receptacle 1905 for a vertebrae engaging member 1904 which is configured to periodically engage with a portion of a vertebrae as the engager 1931 rotates on its respective shaft 1732. The vertebrae engaging members 1904 may have a vertebrae engaging surface shaped to conform to a corresponding surface on the vertebrae to facilitate engagement.

[0282] In this case, four engager arms 1903 are provided on the engager body 1901, although the number of engager arms 1903 may be selected depending on the size of the vertebrae components and the overall size of the engager 1731 such that the respective vertebrae engaging members 1904 provided on the engager arms 1903 will be brought into engagement with suitable portions of the vertebrae components as the engager 1731 is rotated during the deployment/retraction of the vertebrae chain.

[0283] As shown in the exploded view of the engager 1731 in Figure 19B, each vertebrae engaging member 1904 may be mounted to the respective engager arm receptacle 1905 using a spring loaded mounting arrangement. In particular, the engaging member 1904 is fitted on a spring 1906 which is housed in a spring housing 1907 which is in turn mounted into a respective receptacle 1905 using a fastener 1819.

[0284] Such a spring loaded mounting arrangement can assist in ensuring positive engagement between the vertebrae engaging member 1904 and the vertebra. Engagement may occur when the vertebrae engaging member 1904 aligns with a vertebra portion of a reduced diameter compared to the outer diameter of the vertebra, such as the portion between the ball component 1212 and coupling component 1211 on a ball vertebra as discussed above. Alternatively, if the engaging member 1904 is not in good alignment with a suitable portion of the vertebra to allow engagement, the spring 1906 can be compressed to allow the engaging member 1904 to move away from the vertebra and thus not push the vertebrae out of the cylinder guides 1714 at the point of contact between the engaging member 1904 and the vertebra.

[0285] However it will be appreciated that a spring loaded mounting arrangement is not essential, and in alternative embodiments the engagers 1731 may be provided with vertebrae engaging members 1904 rigidly coupled to or even integrally formed from the engager body 1901. In such embodiments, the engagers 1731 may need to be arranged on the engager assemblies 1730 in such a way as to provide precise alignment with the vertebrae to ensure proper engagement of the vertebrae engaging members 1904 with vertebrae. It will be understood that the above discussed spring loaded mounting arrangement removes the need for such precise alignment, but requires a more complex arrangement.

[0286] Turning back to Figure 17C then, it will be appreciated that engaging members 1 04 of the engagers 1731 of each engager assembly 1730 will periodically protrude through the slots 1717 defined in the cylinder 171 1 and where these align with suitable portions of vertebrae, the engaging members 1904 will engage with the vertebrae and push them along their path of movement through the guides 1714 as the engager assembly 1730 is driven in time with the deployment retraction of the vertebrae chain. This will help to prevent the vertebrae chain from becoming stuck in its guides 1714, particularly in view of the tension provided on the vertebrae chain which will tend to promote tight winding of the articulated vertebrae chain on the storage drum 1710.

[0287] It will be understood that the number of engager assemblies 1730 provided in the storage drum assembly 1700 can vary from that depicted, depending on requirements. Furthermore, whilst the depicted example shows engagers 1731 provided for each winding of the helical guides 1714 around the cylinder 1711 , this is not essential and a reduced number of engagers 1731 may be sufficient.

[0288] It is noted again that the example of the storage drum assembly 1700 shown in Figures 17A also includes a winch 1750 for tensioning on the cable 140 extending through the vertebrae chain, during deployment. The winch 1750 includes a winch drum 1751 upon which a portion of the cable 140 may be wound in use, and as described above, the winch 1750 will be operated to controllably release or retrieve cable 140 during deployment and retraction of the vertebrae chain to thereby maintain a suitable level of tension.

[0289] In this example, the cable 140 includes a tension sheath enclosing communications wiring for allowing data communications along the cable to/from a cone penetrometer or other equipment to be deployed by the vertebrae chain. Accordingly, the winch 1750 will typically provide a means for connecting the communications wiring to other data processing equipment. For example, the winch 1750 may include a communications connector on its winch drum 1751 for allowing the communications wiring to be connected thereto. The communications connector may then be coupled to a slip ring arrangement or the like for allowing communications between the rotating winch drum 1751 and stationary equipment 1752 provided with the winch 1750 for receiving the communications signals and allowing these to be subsequently transferred elsewhere, or processed locally.

[0290] In one example, the cable 140 may include a fiber optic cable in place of wiring for providing a communications connection along the vertebrae chain between deployed equipment such as a sensor and the winch 1750. In this case, the winch 1750 may include a fiber optic rotary joint (the optical equivalent of a slip ring) for facilitating a fiber optic communications connection between the rotating winch drum 1751 and stationary equipment 1752.

[0291] In any event, it will be appreciated that the communications connection from the terminated end of the cable 140 at the winch 1750 to downstream processing equipment or the like can be facilitated with commercially available equipment.

[0292] In another example, the cable 140 may also include a hose for transporting pressurised fluid, usually water, along the vertebrae chain. It will be appreciated that this pressurised fluid may be supplied to ports of the vertebrae, such as for flushing the couplings between vertebrae to ensure these remain clear of debris as described above. In order to enable this, fluid passageways may be defined through the hose and cable 140 at appropriate positions for allowing the pressurised fluid to exit the hose and be directed to the ports of the vertebrae. The pressurised fluid may also provide pressurised hydraulic fluid for power hydraulically powered equipment, such as drilled equipment, which may be deployed instead of or in addition to sensor equipment.

[0293] A rotary fluid connection may be provided at the winch 1750, similar to the slip ring arrangements mentioned above for the communications connections. Accordingly, a fluid slip ring, rotary fluid coupling, or the like may be used to allow pressurised fluid to be supplied from a stationary pump to the hose on the rotating winch 1750.

[0294] The hose for the pressurised fluid may be provided inside a tension sheath of the cable 140 as discussed above, along with communications wiring (or optical fiber cables), electrical power wiring, as required for enabling the operation of sensors or other equipment deployed using the vertebrae chain.

[0295] However, it will be appreciated that providing the hose as part of the cable is not essential, and pressurised fluid may be supplied to the vertebrae chain using other techniques. For instance, pressurised fluid can be supplied the channel extending through the vertebrae chain by connecting a hose to the final vertebra component at the chain proximal end, as discussed above with reference to Figure 11. In one example, a first hose may be provided inside the cable to supply pressurised fluid to deployed equipment and a second hose may be connected to the chain proximal end to supply pressurised fluid into the channel of the vertebrae chain, to thereby provide pressurised fluid for flushing the couplings.

[0296] It is noted that examples above have depicted the apparatus provided in a frame which can be deployed to a desired location such as the seabed, this is not necessarily always the case. In some examples the apparatus may be provided in a modular arrangement which can in turn be attached to a further deployment structure.

[0297] For instance, the deployment structure may be in the form of a separate frame adapted for deployment in particular conditions, or a drill rig structure. In one particular example, the apparatus may be provided in a modular form which can be attached to a skid structure adapted to allow convenient manipulation and transport of the system by a remotely operated submersible vehicle (ROV) or the like. In any event, it will be appreciated that apparatus functionalities as discussed above can be provided in a range of deployment scenarios; [0298] Throughout this specification and claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or group of integers or steps but not the exclusion of any other integer or group of integers.

[0299] Persons skilled in the art will appreciate that numerous variations and modifications will become apparent. All such variations and modifications which become apparent to persons skilled in the art, should be considered to fall within the spirit and scope that the invention broadly appearing before described.