From the Halderman Report in Curling v. Raffensperger:
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Beyond these implications for election practice, our work is scientifically significant. It is the first study in more than 10 years to comprehensively and independently assess the security of a widely deployed U.S. voting machine, as well as the first-ever comprehensive security review of a widely deployed ballot marking device. Security researchers studied numerous U.S. voting machines 10-20 years ago, and their findings clearly established that voting equipment tends to suffer from security flaws. Yet one might wonder whether election equipment sold today is more secure than equipment produced in decades past. Our findings suggest that the answer is no. This highlights the need for further enhancements to the software engineering, testing, and certification processes for U.S. voting equipment, and it underscores the importance of conducting rigorous post-election audits of every major electoral contest, as recommended by the National Academies