how can i convert DVD's or VCD's into rm format ?

i tried using those .vob extension files and convert but i get the video but not the audio.

and when i convert , which mode do i choose (in video mode)

NORMAL
SMOOTH
SHARP
SLIDESHOWS ?

and also how can i make sure that i make a good conversion? because those dvd which i've converted, some parts of the show the picture is pixelating.

any guru's can help me ?