License agreements, research collaborations and development agreements (Details Textual)	3 Months Ended		9 Months Ended
	Sep. 30, 2016 USD ($) Agreement	Sep. 30, 2015 USD ($)	Sep. 30, 2016 USD ($) Agreement	Sep. 30, 2015 USD ($)
License Agreements Research Collaborations And Development Agreements [Line Items]
Number Of License Agreements | Agreement	3		3
Royalty (Income) Expense	$ 71,135	$ 7,484	$ 216,937	$ (13,769)
Future Minimum Royalty Payments Due	270,000		270,000
Collaborations Revenue	6,302	27,780	131,302	308,340
Technology Development Agreement with Hitachi [Member]
License Agreements Research Collaborations And Development Agreements [Line Items]
Collaborations Revenue	0	$ 27,780	0	$ 308,340
License Agreement with Hitachi [Member]
License Agreements Research Collaborations And Development Agreements [Line Items]
Collaborations Revenue	$ 6,302		$ 131,302