For dot glyphs, use a 1-indexed Base64 alphabet (as there is no blank dot glyph) to encode the dots; the bottom dot position represents the least significant bit:
1 2 3 4 5 6
123456789012345678901234567890123456789012345678901234567890123
ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+
If the glyph has more than one dot (i.e., is not one of A, B, D, H, P, or f), use Crockford's Base32 to represent which inter-dot spaces have connecting lines:
1 2 3
01234567890123456789012345678901
0123456789ABCDEFGHJKMNPQRSTVWXYZ
For bar glyphs, use the following punctuation to represent the various bars:
| []
.,:;!
The shorter bar glyphs used to represent Clocktalk can be represented by single quotes:
'Keep Out'
Whitespace may be represented by its ASCII counterpart.
The first utterance from Automata (p. 2) would be represented thus:
:!.,+Z.47. .A
(Although that 7 could be a 5.)