Aspect-Oriented Software Development (AOSD) has emerged as a new approach to develop software systems by improving their structure, reuse, maintenance and evolution properties. It is being applied to all stages of the software life cycle. In this paper, we present the PRISMA approach, which introduces AOSD in software architectures. PRISMA is characterized by integrating aspects as first-order citizens of software architectures. This paper shows how the PRISMA methodology is applied to develop a case study of the tele-operation system domain. We illustrate how the PRISMA approach can improve the development and maintenance processes of these kinds of industrial systems.