Abstract: A communication method includes generating at a first node, a message of a predetermined message temporal length that indicates an input value to be encoded and transmitting, at the first node, a signal including a pulse train corresponding to the generated message. The signal including the pulse train includes two pulses that define start and end of the message, respectively, and further two pulses that define within the message, a first time interval calculated from the input value in accordance with a first function and a second time interval calculated from the input value in accordance with a second function, respectively.