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Note 2 - Summary of Significant Accounting Policies (Details Textual) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2018 | Dec. 31, 2017 USD ($) | Dec. 31, 2016 USD ($) | Dec. 31, 2015 USD ($)
Number of Wholly Owned Subsidiaries |  | 5 |  |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent |  | 35.00% |  |
Asset Impairment Charges |  | $ 0 | $ 0 |
Capitalized Computer Software, Net |  | 427,000 | 2,000 |
Capitalized Computer Software, Amortization |  | 36,000 | 18,000 |
Amortization of Intangible Assets |  | 46,000 | 31,000 |
Research and Development Expense |  | 437,157 | 433,844 |
Allowance for Doubtful Accounts Receivable, Current |  | 4,000 | 2,000 |
Cash and Cash Equivalents, at Carrying Value |  | 14,210,909 | 21,677,186 | $ 13,073,331
Shipping, Handling and Transportation Costs |  | 42,000 | 28,000 |
Including External Customer Orders [Member] |  |  |  |
Research and Development Expense |  | $ 2,220,000 | $ 2,448,000 |
Minimum [Member] |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 5 years |  |
Maximum [Member] |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 20 years |  |
Computer Software, Intangible Asset [Member] | Minimum [Member] |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 3 years |  |
Computer Software, Intangible Asset [Member] | Maximum [Member] |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 5 years |  |
Scenario, Forecast [Member] |  |  |  |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent | 21.00% |  |  |

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- Definition The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 730 -SubTopic 10 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6420194&loc=d3e21568-108373 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 985 -SubTopic 20 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6501960&loc=d3e128462-111756 + Details
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