  Responsible AI must be able to make decisions that consider human values and
can be justified by human morals. Operationalising normative ethical principles
inferred from philosophy supports responsible reasoning. We survey computer
science literature and develop a taxonomy of 23 normative ethical principles
which can be operationalised in AI. We describe how each principle has
previously been operationalised, highlighting key themes that AI practitioners
seeking to implement ethical principles should be aware of. We envision that
this taxonomy will facilitate the development of methodologies to incorporate
normative ethical principles in responsible AI systems.
