Just to put the copyright issue to bed, COPYING a SUBSTANTIAL part of a work in which copyright subsists would infringe copyright. The so-called "Miller Charts" floating about do not look like anything found in SSHE. They are someone else's representation of the information found in SSHE (and attract copyright in their own right). As correctly pointed out by others, copyright does not protect information per se, only the expression of that information. Where tabulations of data are concerned, the threshhold for infringing copyright is in fact quite high.

Thus, you are free to use the info in Yao's book to create your own chart, just don't copy his chart!