The article states these images were taken in ultraviolet, would there be any visable (to humans) aurorae from say, the surface of Titan or Enceladus?
At the end the article mentions that the visible light coloration observed by Cassini. I think the problem with seeing them from the moons is the point of view. The moons orbit around Saturn's equator, and looking up towards Saturn's north pole you might not be able to see as far as the aurora. It depends on how close-in the moons are, I think. The distant ones might have a good view.