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Condensed Consolidated Statements of Operations (Unaudited) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Revenues        
Revenue $ 748,141 $ 886,881 $ 1,589,596 $ 2,305,216
Costs and other expenses        
Costs and other expenses 1,029,803 795,961 2,209,248 1,456,895
Gross profit (loss) (281,662) 90,920 (619,652) 848,321
Operating Expenses        
Selling, general and administrative 1,076,184 1,431,208 2,538,038 3,051,358
Research, development and engineering 297,633 449,049 689,787 942,493
Total Operating Expenses 1,373,817 1,880,257 3,227,825 3,993,851
Operating loss (1,655,479) (1,789,337) (3,847,477) (3,145,530)
Other income        
Interest income 14 8 21 14
Total other income 14 8 21 14
Net loss (1,655,465) (1,789,329) (3,847,456) (3,145,516)
Convertible preferred stock dividends (41,870) (200,625) (198,033) (401,250)
Net loss available to common stockholders $ (1,697,335) $ (1,989,954) $ (4,045,489) $ (3,546,766)
Basic and Diluted Loss per Common Share (in dollars per share) $ (0.15) $ (0.32) $ (0.42) $ (0.57)
Weighted Average Shares Outstanding:        
Basic and diluted (in shares) 11,375,320 6,359,974 9,623,151 6,228,197
Service [Member]        
Revenues        
Revenue $ 249,121 $ 134,061 $ 551,570 $ 454,648
Costs and other expenses        
Costs and other expenses 120,841 55,660 275,573 94,480
License [Member]        
Revenues        
Revenue 154,251 127,751 256,970 624,319
Costs and other expenses        
Costs and other expenses 908,962 740,301 1,933,675 1,362,415
Hardware [Member]        
Revenues        
Revenue $ 344,769 $ 625,069 $ 781,056 $ 1,226,249