Social media has become an important platform for people to express opinions, share information and communicate with others. Detecting and tracking topics from social media can help people grasp essential information and facilitate many security-related applications. As social media texts are usually short, traditional topic evolution models built based on LDA or HDP often suffer from the data sparsity problem. Recently proposed topic evolution models are more suitable for short texts, but they need to manually specify topic number which is fixed during different time period. To address these issues, in this paper, we propose a nonparametric topic evolution model for social media short texts. We first propose the recurrent semantic dependent Chinese restaurant process (rsdCRP), which is a nonparametric process incorporating word embeddings to capture semantic similarity information. Then we combine rsdCRP with word co-occurrence modeling and build our short-Text oriented topic evolution model sdTEM. We carry out experimental studies on Twitter dataset. The results demonstrate the effectiveness of our method to monitor social media topic evolution compared to the baseline methods.