welcome to Just answer
I have few questions for
Can you read power on each of these two devices and the resistance and let me know. Also what output connectors does each of the tow device have? Can you give the model of the Yamaha receiver amp.
No I am sorry but there is absolutly no way to connect that sub to that receiver, that sub uses a specific cable that attaches it to the panasonic receiver its called a catch up cable then all other speakers attach to that sub, you can however buy a powered sub off of ebay.com for under $100 that will suit your needs! That sub will only work with certain Panasonic receivers it will not work with any other brand.
If you need further assistance I will be glad to help you.