Today I was able to transfer over the hello world application that I built and run it!
The issue I ran into was that the image that shipped on the board would not let me connect through rlogin, ssh, sftp, scp, or any other port. It refused all connections. So, I went through the exercise of using SAM-ba to download a new image to the board. This seemed easier than trying to re-configure the Poky distribution to open up those ports. The getting started page outlines this pretty well:
GettingStarted_a5d4_xplained < Linux4SAM < TWiki
This went off without a hitch using a pre-built image that I downloaded. However, I was unable to find the shell script to install any of the images that I built previously. So, that's a question mark today.
Once this new image was installed, I was able to connect the board to an ethernet connection and transfer a file to it using SCP.
The other question I have is can I use the Yocto Eclipse plug-in with the Atmel Poky QT-embedded SDK. Please comment if you know the answer.