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RDF (Resource Description Framework), a standard resource description model, is popularized and applied in many application scenarios for its explicit representation of semantics. To represent and process time-aware semantics with RDF, the temporal RDF model is proposed and applied in temporal knowledge graphs. The requirement for efficiently handling diverse temporal RDF data has become increasingly important with the rapid development and popularity of RDF. In this paper, we propose a novel temporal RDF model and effectively tackle the management of temporal RDF data in relational databases. In particular, we propose a temporal RDF model called tRDF to represent both temporal entities and relationships and further propose a temporal query language for the tRDF model. To manage temporal RDF data in an effective manner, we propose to store temporal RDF data with relational databases …