Add Characterization v4 support

[anthonysena]

Updates to support Characterization v4 by @jreps and to fix failing tests per #295.

Requires use of Characterization v4 when designing and executing studies with Strategus. Maintains backwards compatibility with the module settings function to alert users of this change.

[codecov]

Codecov Report

❌ Patch coverage is 97.89474% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 97.15%. Comparing base (a599bb6) to head (e1388c5).
⚠️ Report is 56 commits behind head on develop.

Files with missing lines	Patch %	Lines
R/Module-Characterization.R	97.89%	2 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           develop     #296      +/-   ##
===========================================
- Coverage    98.55%   97.15%   -1.40%     
===========================================
  Files           14       16       +2     
  Lines         3450     4992    +1542     
===========================================
+ Hits          3400     4850    +1450     
- Misses          50      142      +92     

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