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v0.34:Train
Training of war/hunting animals (currently only dogs) is done as task in a kennel. You need a dwarf with animal training enabled. Of course you also need dogs. Training will increase the dogs fighting abilities; think of them as "veteran" dogs.
Getting your dogs to the place you want them after training is a bit more tricky - you can assign them to a dwarf/soldier so they will follow him/her (this is done from the v-p menu of the dwarf) and station the soldier where you want the dogs, or you can build a cage, cage the dogs and link the cage to a lever, so they can be released from a distance in case of ambush, siege or whatever.
There are reports of other, tamed, animals like leopards and tigers acting as defense too; they can however not be trained.