As Artificial Intelligence (AI) systems are increasingly making decisions that directly affect users and society, many questions raise across social, economic, political, technological, legal, ethical and philosophical issues. Can machines make moral decisions? How should moral, societal and legal values be part of the design process? In this talk, I look at ways to ensure that behaviour by artificial systems is aligned with human values and ethical principles. Given that ethics are dependent on the socio-cultural context and are often only implicit in deliberation processes, methodologies are needed to elicit the values held by designers and stakeholders, and to make these explicit leading to better understanding and trust on artificial autonomous systems. We will in particular focus on the ART principles for AI: Accountability, Responsibility, Transparency.