Following the Howto instructions found in this link http://ubuntuforums.org/showthread.php?t=129093
use mkudffs to format DVD-RAM.
Initially I am having problem format DVD-RAM disk after reading through the HOWTO it turns out was a user right issue.
I did a
"sudo chmod 777 /dev/pktcdvd/0"
then I can run
"mkudffs --media-type=dvdram /dev/pktcdvd/0"
without any error messages.
The rest is just follow Howto to mount the DVD-RAM disk.