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Remember the way different precincts change the order of names on ballots so no one gets first place advantage everywhere? The counter has to acknowledge the type of ballot, and with just a bit of clever programming...
Or you can just write down wrong totals. Vote stealing may well have been the third oldest profession. Get over it, and use checksums, independendant validations and all the other means used throught the ages to make cheating harder.
Everyone gets a very human readable paper ballot that you mark by joining the head and tail of an arrow pointing at the candidate's name.
The ballots are electronically tabulated in machines and the paper ballots saved for recounting.
No lines at voting machines, everyone has their own ballot that they can mark in their own time anywhere they want too.
So simple, so seemingly attractive, yet not so used. Very surprising to me.
(1) You can do automated consistency checking, so that e.g. voters cannot mark more than one candidate for a given office.
(2) Disabled (blind, etc.) users can mark their ballots secretly using audio or other assistive interfaces. Currently many disabled voters rely on human assistance or special ballots, both of which can compromise ballot secrecy.
These may not overcome the cost or security objections completely, but they should not be ignored.