Let's Make Robots!

Need help to build a obstucle avoiding robo using GH 311RT sensors

i am having this ultrasonic  sensor

http://www.seeedstudio.com/depot/ultrasonic-ranger-gh311rt-p-73.html

http://www.sure-electronics.net/download/DC-SS014_Ver1.0_EN.pdf 

Anybody please tell me how to interface this sensor with arduino, i planning to create a obstacle avoiding robot using two dc motors and a servo with this sensor.

Please help me with programming and circuit...


Thanks,
robotsmani