The first step in installing YalerTunnel is to get a domain name. You can do this for free by going to www.yaler.net and following the instructions on the website.
On the BeagleBone:
$ mkdir yalertunnel $ cd yalertunnel
$ curl -LO http://hg.yaler.org/yalertunnel2/downloads/YalerTunnel2.src.tar.gz
$ tar xfzmv YalerTunnel2.src.tar.gz
$ ./configure && make
18.118.2.240