In this paper we describe the approach taken in the UPM Autonomous Systems Laboratory for the development of technology of full, bounded autonomy. This effort is taking us into the study of the phenomenology of consciousness especially in relation with the construction of mechanisms for system self-awareness. The progress of this work can be tracked in our ASys and SOUL projects webpages. The ASys Project is a long-term project that deals with the development of an engineering process and a collection of assets for the implementation of autonomous systems. The SOUL Project develops a generic architecture for self-aware autonomous systems.