diff --git a/tasks/AutoTighten.py b/tasks/AutoTighten.py
new file mode 100644
index 00000000..4b70a0ae
--- /dev/null
+++ b/tasks/AutoTighten.py
@@ -0,0 +1,102 @@
+# -*- coding: utf-8 -*-
+# MENU: Auto-Tighten
+# VISION: True
+
+from .Task import Task
+from PyQt5.QtGui import QVector3D
+from collections import deque
+import numpy as np
+import pandas as pd
+import trackpy as tp
+
+
+class AutoTighten(Task):
+    """ Adjust each trap's power output (alpha) until trapped particle's variance approaches a target value """
+    
+    def __init__(self, target=1, alpha=[0, 10], nframes = 1050, nvar=200, ndelay = 10,  **kwargs): 
+        super(AutoTighten, self).__init__(**kwargs)
+        self.target = target        ## Target variance
+        self.alpha_min = alpha[0]   ## Allowable trap strength (alpha) range
+        self.alpha_max = alpha[1]
+        self.nframes = nframes      ## Number of frames to run 'doprocess'
+        self.nvar = nvar            ## Number of frames to track to compute variance
+        self.ndelay = ndelay        ## Number of frames to delay between iterations
+
+    
+    def initialize(self, frame):    
+        self.vision = self.parent.vision
+        self.vision.realTime(True)
+        self.count = 0
+        self.cdelay=0
+        
+        
+    def doprocess(self, frame):
+        if(self.count % self.nvar == 0):  #### First, send trajectories from last nval frames to a dataframe 
+            frames = self.vision.video.frames
+            nvar = self.nvar
+            while(frames[-nvar].framenumber < frame.framenumber - self.nvar): ## Uncomment to use nvar (detecting) VISION frames
+                nvar -= 1                                                     ## rather than nvar CAMERA frames.             
+            
+            d = {'x': [], 'y': [], 'framenumber': []}         
+            for frame in frames[-nvar:]:
+                for feature in enumerate(frame.features):
+                    d['x'].append(feature.model.particle.x_p)
+                    d['y'].append(feature.model.particle.y_p)
+                    d['framenumber'].append(frame.framenumber)
+            trajs = tp.link(pd.DataFrame(data=d), self.vision.linkTol, memory=int(self.vision.nskip+3))
+     #### NOTE: Should everything thus far be done using a modified Trajectory object? Or, should we just keep emptying qvision's Video object?
+           
+        
+            #### Next, use mean position to pair particle trajectories with trap positions
+            d = {'x': [], 'y': [], 'framenumber': [], 'val': []}
+            for particle in range(max(trajs.particle)+1):
+                x = trajs[trajs.particle==particle].x
+                y = trajs[trajs.particle==particle].y
+                d['x'].append(np.mean(x))
+                d['y'].append(np.mean(y))
+                d['val'].append(np.mean((x - np.mean(x))**2 + (y - np.mean(y))**2))    #### val = variance = |dr|^2        
+                d['framenumber'].append(0)                                             #### trajectories at frame 1                
+            stat_df = pd.DataFrame(data=d)
+            
+            self.traps = self.parent.pattern.pattern     #### Now, find trap positions... NOTE if traps don't move, this can be done in initialize
+            for i, trap in enumerate(self.traps.flatten()):
+                d['x'].append(trap.r.x)
+                d['y'].append(trap.r.y)
+                d['val'].append(i)                                                     #### val = trap index 
+                d['frame'].append(1)                                                   #### traps at frame 1
+            trap_df = pd.DataFrame(data=d)
+           
+          #### Match trajectories to traps, and adjust each trap based on variance of trapped particle
+            pair_df = stat_df.append(trap_df)
+            tp.link(pair_df, self.vision.linkTol)
+            
+            for i, trap in enumerate(self.traps.flatten()):
+                particle = pair_df[(pair_df.frame==1) and (pair_df.val==i)].particle   #### traps are frame 1; trap 'val' is trap index
+                var = pair_df[(pair_df.frame==0) and (pair_df.particle==particle)].val #### trajs are frame 0, and traj 'val' is variance     
+                
+                alpha_new = trap.alpha*self.target/var
+                if alpha_new > self.alpha_max:
+                    trap.alpha(self.alpha_max)
+                else if alpha_new < self.alpha_min:
+                    trap.alpha(self.alpha_min)
+                else:
+                    trap.alpha(alpha_new)
+           
+            self.count += 1
+            self.cdelay = self.ndelay    
+                
+        else if self.cdelay is 0:
+           self.count += 1
+        else:
+            self.cdelay -= 1
+
+            
+            
+                
+            
+            
+         
+            
+                    
+     
+