A research group at the University of California in Santa Barbara, which took part in Debra Bowen's top-to-bottom review in 2007 of many of the voting systems certified for use in California, published a paper on their findings over the summer. Their public report on the investigation is available here.
They also made a video of some of their findings, now available in two parts on YouTube.
Together they run for about 16 and half minutes. Recommended.
Thanks to Martyn Thomas via FIPR for the pointer.