The Boston Globe Magazine had a pretty good piece on them a few years back. It was far easier to read in print, but I think this the article:
http://www.boston.com/bostonglobe/magazine/2011/0807/
Most of the R&D went into the cups themselves. Simple as they seem, it appears the company went through a lot of iterations to get the right gas mixture and volume right to have fresh coffee with long shelf-life.