A new paper by Andrew Appel and Philip Stark: EVIDENCE-BASED ELECTIONS:CREATE A MEANINGFUL PAPER TRAIL,THEN AUDIT Provides a thorough description of how the public can be assured of election outcomes, in spite of hack-able voting equipment.
The bottom line: The only reliable method available is Voter-Marked Paper Ballots, with strong security for the ballots, followed by sufficient post-election audits. Other technologies, including Ballot Marking Devices and Internet voting are insufficient.
Anyone interested in trustworthy elections should read this paper – especially those who think that expensive Ballot Marking Devices should be trusted. And those who think it is impossible to use technology to count votes accurately.