a. Arduino Stack (Proto-shield on top)
b. Sharp IR sensor + JST to Breadboard Jumper (3-pin)
Connect the yellow jumper which is the signal wire to any Analog In except 0 or 1. Those pins are used by the motor shield to measure current going to the motors.
Connect the black wire to any of the GND (Ground) pins and finally connect the red wire to any of the 5v (5 volt) pins.
Be sure to program your Arduino to do an analog read on the pin you have plugged the yellow wire into. Or if you are using the Artbotics library, setup the sensor object with said pin.