Note 3 - Significant Accounting Policies (Details Textual)	3 Months Ended	9 Months Ended
Sep. 30, 2019 USD ($)	Sep. 30, 2018 USD ($)	Sep. 30, 2019 USD ($)	Sep. 30, 2018 USD ($)
Contract with Customer, Asset, after Allowance for Credit Loss, Total	$ 1,900,000		$ 1,900,000
Product Warranty Expense (Benefit)	0	$ 75,000	$ (40,400)	$ 115,000
Licensing Agreements [Member]
Finite-Lived Intangible Asset, Useful Life			9 years
Amortization of Intangible Assets, Total	$ 5,250	$ 5,250	$ 15,750	$ 15,750
IDIQ Agreement [Member] \| ADEPT Units [Member]
Units Delivered			226
Units to be Delivered	26		26

The aggregate expense charged against earnings to allocate the cost of intangible assets (nonphysical assets not used in production) in a systematic and rational manner to the periods expected to benefit from such assets. As a noncash expense, this element is added back to net income when calculating cash provided by or used in operations using the indirect method.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=118932676&loc=d3e3602-108585

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 350
-SubTopic 30
-Section 50
-Paragraph 2
-Subparagraph (a)(2)
-URI http://asc.fasb.org/extlink&oid=66006027&loc=d3e16323-109275

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 350
-SubTopic 30
-Section 45
-Paragraph 2
-URI http://asc.fasb.org/extlink&oid=6388964&loc=d3e16225-109274

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