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Note 11 - Stock-based Compensation (Details Textual) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended 48 Months Ended 53 Months Ended
Dec. 31, 2016
Dec. 31, 2016
Nov. 30, 2016
Sep. 30, 2016
Aug. 31, 2016
Dec. 31, 2015
Sep. 30, 2015
Jan. 31, 2015
Nov. 30, 2014
Dec. 31, 2013
Sep. 30, 2013
Jul. 31, 2013
Jul. 30, 2013
[1]
Jun. 30, 2013
Dec. 31, 2012
Dec. 30, 2012
[3]
Jul. 31, 2012
Sep. 30, 2011
Nov. 30, 2010
Dec. 31, 2016
Sep. 30, 2016
Dec. 31, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2016
Dec. 31, 2016
Jun. 30, 2016
Restricted Stock [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 208,997 208,997                                   208,997     208,997   208,997 208,997  
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Share-based Awards Other than Options $ 3,045,462 $ 3,045,462                                   $ 3,045,462     $ 3,045,462   $ 3,045,462 $ 3,045,462  
The 2010 Plan [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 1,000,000 1,000,000                                   1,000,000     1,000,000   1,000,000 1,000,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number 307,000 307,000                                   307,000     307,000   307,000 307,000 405,000
Allocated Share-based Compensation Expense                                       $ 331,306   $ 146,597 $ 959,650 $ 367,220      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross                         5,000 37,500 [2]   250,000 100,000 [4] 50,000 [5]                
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period                                                    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period                                             98,000        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term 1 year                                                    
The 2010 Plan [Member] | Directors and Officers [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross                             175,000   75,000 40,000                  
The 2010 Plan [Member] | Former Technical Consultant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross                             75,000   25,000 10,000                  
The 2010 Plan [Member] | Directors, Executives, and a Former Technical Consultant [Member] | July 2012 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period                                                   25,000  
The 2010 Plan [Member] | Directors, Executives, and a Former Technical Consultant [Member] | December 2012 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period                                                 50,000    
The 2010 Plan [Member] | Executives [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross                     52,500     37,500                          
The 2010 Plan [Member] | Employee [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross                       5,000                              
The 2010 Plan [Member] | Current and Former Executives, Directors, and Consultants [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period                                       18,000 80,000            
Stock Issued During Period, Shares, Cashless Stock Options Exercised                                       9,357 42,817            
Proceeds from Stock Options Exercised                                       $ 0 $ 0            
The 2010 Plan [Member] | Restricted Stock [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 208,997 208,997                                   208,997     208,997   208,997 208,997  
The 2010 Plan [Member] | Restricted Stock [Member] | Directors and Officers [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period                                     70,429                
The 2010 Plan [Member] | Restricted Stock [Member] | Former Technical Consultant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 10,000 10,000                                   10,000     10,000   10,000 10,000  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period                                     23,477                
The 2010 Plan [Member] | Restricted Stock [Member] | Former Technical Consultant [Member] | January 2015 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period               10,000                                      
The 2010 Plan [Member] | Restricted Stock [Member] | Directors, Executives, and a Former Technical Consultant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period                   95,000                                  
The 2010 Plan [Member] | Restricted Stock [Member] | Directors, Executives, and a Former Technical Consultant [Member] | December 2013 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period                   2 years                                  
The 2010 Plan [Member] | Restricted Stock [Member] | Directors, Executives, and a Former Technical Consultant [Member] | December 2013 Grant [Member] | Vesting on the Date of Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage                   0.3333%                                  
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period         100,000   85,000   27,000                                    
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | November 2014 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 9,000 9,000                                   9,000     9,000   9,000 9,000  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period                 2 years                                    
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | November 2014 Grant [Member] | Vesting on the Date of Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage                 0.3333%                                    
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | November 2014 Grant [Member] | Vesting in January 2019 [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   0.3333%                                                  
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | September 2015 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 28,332 28,332                                   28,332     28,332   28,332 28,332  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period             2 years                                        
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | September 2015 Grant [Member] | Vesting on the Date of Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             0.3333%                                        
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | August 2016 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 73,333 73,333                                   73,333     73,333   73,333 73,333  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period         2 years                                            
The 2010 Plan [Member] | Restricted Stock [Member] | Executives [Member] | August 2016 Grant [Member] | Vesting on the Date of Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         0.3333%                                            
The 2010 Plan [Member] | Restricted Stock [Member] | Two Non-executive Directors [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period           40,000   30,000                                      
The 2010 Plan [Member] | Restricted Stock [Member] | Two Non-executive Directors [Member] | January 2015 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period               2 years                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period               10,000                                      
The 2010 Plan [Member] | Restricted Stock [Member] | Two Non-executive Directors [Member] | January 2015 Grant [Member] | Vesting Equally Over Two Years [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage               0.6667%                                      
The 2010 Plan [Member] | Restricted Stock [Member] | Two Non-executive Directors [Member] | December 2015 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 13,332 13,332                                   13,332     13,332   13,332 13,332  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period           2 years                                          
The 2010 Plan [Member] | Restricted Stock [Member] | Two Non-executive Directors [Member] | December 2015 Grant [Member] | Vesting on the Date of Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage           0.3333%                                          
The 2010 Plan [Member] | Restricted Stock [Member] | Two Executives [Member] | September 2015 Grant [Member] | Vesting in January 2019 [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage       0.3333%                                              
The 2010 Plan [Member] | Restricted Stock [Member] | Non-Executive Directors [Member] | November 2016 Grant [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 75,000 75,000                                   75,000     75,000   75,000 75,000  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period     75,000                                                
The 2010 Plan [Member] | Employee Stock Option [Member]                                                      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number 307,000 307,000                                   307,000     307,000   307,000 307,000  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period [6]                               2 years 2 years [4] 2 years [5]                  
[1] The Company granted 5,000 stock options to an employee of Avalon for services performed during fiscal year 2013.
[2] The Company granted 37,500 stock options to its executives for services performed during fiscal year 2013.
[3] The Company granted 175,000 stock options to its directors and executives and an additional 75,000 stock options to a former technical consultant for services performed during fiscal year 2013. Of the total options granted as a part of this grant, 50,000 were later forfeited.
[4] The Company granted 75,000 stock options to its directors and executives and an additional 25,000 stock options to a former technical consultant for services performed during fiscal year 2012. Of the total options granted as a part of this grant, 25,000 were later forfeited.
[5] The Company granted 40,000 stock options to its directors and executives and an additional 10,000 stock options to a former technical consultant, for services performed during fiscal year 2011.
[6] If at any time there occurs a change of control, as defined in the 2010 Plan, any options that are unvested at that time will immediately vest. The Company's Compensation Committee has determined that the Transactions do not constitute a change of control under the 2010 Plan.