Can I Have A Voting Receipt?

We could be too trusting of our democratic institutions.  The police are supposed to be honest and are sworn to protect and serve the public.  So we trust them without independent external review.  Years of documentary evidence have shown numerous police officials have not been truthful.  Still, we trust police officials to conduct self-monitoring and the imposition of sanctions without adequate external review.  American citizens apparently have a lot of trust in the process that allows us to exercise our Constitutional Right to Vote!  Proprietary software programs are typically used in voting machines.  These nearly secret programs could have some percentage of errors or could possibly be manipulated in some way.  Nevertheless, we do not receive a receipt verifying the accuracy of our vote.  How do you know for certain that your attempt to vote for Mayoral Candidate John Johnson actually resulted in a vote for him?