Note 2 - Summary of Significant Accounting Policies (Details Textual)	12 Months Ended
	Dec. 31, 2015 USD ($)	Dec. 31, 2014 USD ($)	Dec. 31, 2013 USD ($)
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
Minimum [Member]
Finite-Lived Intangible Asset, Useful Life	5 years
Maximum [Member]
Finite-Lived Intangible Asset, Useful Life	20 years
Including External Customer Orders [Member]
Research and Development Expense	$ 1,727,000	$ 1,555,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued	0	0
Asset Impairment Charges	$ 0	0
Number of Wholly Owned Subsidiaries	2
Capitalized Computer Software, Net	$ 21,000	25,000
Capitalized Computer Software, Amortization	16,000	11,000
Amortization of Intangible Assets	24,000	20,000
Research and Development Expense	605,264	877,788
Allowance for Doubtful Accounts Receivable, Current	19,000	24,000
Cash and Cash Equivalents, at Carrying Value	13,073,331	11,966,863	$ 11,247,560
Shipping, Handling and Transportation Costs	$ 57,000	$ 35,000