Asymptotic solutions: glancing trajectories, Lagrangian singularities, and Bessel cylinders

We find a normal form for the simplest Lagrangian singularity appearing as the projection onto the space-energy of
a solution to the Hamilton-Jacobi equation. Using this normal form we approximate asymptotic solutions of an equation
$(\widehat{H}-E_0) \, u_h = f_h$ with a semiclassical distribution $f_h$ microlocalized on a Lagrangian manifold $\Lambda_0$
when $E_0$ is a critical value of the restriction $H|_{\Lambda_0}$.