I guess you can arm yourself and take classes to learn to properly shoot and care for a gun and keep it by your bedside. Have pepper spray available on walks and at home. Or keep a baseball bat near your bed.
Lock doors, windows and add a portable alarm to entrances. Barking dog is a deterrent which you already know. I realized that I have mess (pile of stuff) blocking a pathway near one of my doors, inside the house. This is not for protection (pure laziness) but if anyone tried to come in that way, they would trip over shoes, laundry, cat toys, and a box or two. It occurred to me that this could be an interesting way to booby trap an entrance.
And yes, being surly and using eye contact is also a deterrent too, believe it or not. Read Gavin DeBecker's "The Gift of Fear." One of the best books ever about not becoming a victim and using your instincts.
Carol Burnett was being mugged once in NYC (years ago) and she went into her full-on Tarzan yell and just acted totally crazy. The mugger ran away, he was so frightened of the crazy lady. Crazy scares people, even men.
For the ongoing fear and trauma, therapy, some self-defense classes can only help. Maybe organize a community meeting where you invite a couple RPD guys to help educate on how to better protect yourself, your environment, etc. I'm sure they would gladly do this.
Knowledge is power. You can't change the past but you can do things now to help yourself and feel more empowered.