TSA discovers dog in a carry-on bag at Wisconsin airport checkpoint
https://edition.cnn.com/travel/article/tsa-finds-dog-in-bag-wisconsin-airport/index.html
It is easy to put an animal into baggage, when we consider that Carlos Ghosn passed through baggage inspection by hiding inside guitar box.
So, it's one of the biggest security holes for aviation industry, especially for private aircraft. (Carlos Ghosn seems to have escaped from Japan by private aircraft)
I don't know how to improve detection rate. But, it must be effective, if each baggage is exposed to X ray radiation which is so harmful that human and most animals can be killed at the first radiation.