The Habitats Optimized for Missions of Exploration (HOME) Space Technology Research Institute, an institute focused on smart deep space habitation, is creating a foundation for habitats that can both sustain human residents and sustain themselves without human residents. A vital element of any human-rated mission is the Environmental Control and Life Support System (ECLSS), composed of multiple subsystems, including an Air Revitalization subsystem which maintains a breathable atmosphere. Tracking performance, identifying performance degradation, and performing maintenance on such a critical system is paramount to creating a safe, habitable environment, and are thus key research areas within HOME and taking place at UC Davis. Currently, HOME ECLSS students are undergoing the design, build, and test of two twin testbeds paired with corresponding simulations. The first, ZeoDe (Zeolite Degradation), is a chemically functional CO2 removal testbed which generates degradation data for prognostics through the introduction of humidity into the system. The introduction of water can easily happen in a space habitat if there is a leak or other fault in the system. For future exploration missions where dormancy (uncrewed) periods alternate with crewed periods, leaks and other faults that lead to sorbent CO2 removal capacity degradation may occur without notice. Thus, the study of CO2 removal subsystem degradation due to causes such as leaks during dormancy periods is of paramount importance. The maintenance of such a system is equally important. The second testbed, ZeoDeRMT (Robotically Manipulable Twin), is the non-functional twin to ZeoDe. It is modeled after ZeoDe, with additional design changes to allow for robotic manipulation with a robotic arm. The two testbeds allow HOME to investigate sensor criticality, detection sequences, and maintenance plans for a degraded ECLSS CO2 removal unit in an integrated robot/human teaming scenario.