Yield : will make thread to wait for the currently executing thread and the thread which has called yield() will attaches itself at the end of the thread execution. The thread which call yield() will be in Blocked state till its turn.
Sleep : will cause the thread to sleep in sleep mode for span of time mentioned in arguments.
Join : t1 and t2 are two threads , t2.join() is called then t1 enters into wait state until t2 completes execution. Then t1 will into runnable state then our specialist JVM thread scheduler will pick t1 based on criteria's.