Find the sum and asymptotic expansion of $\sum_{u=1}^{[N/2]} \sum_{v=1}^{[\sqrt{N}]} \left[{|u^2-2v| \le N}\right] \left[{|-2uv| \le N}\right]$

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Where $[x]$ in the summation limits is the floor function. In the summation body this is the Iverson bracket

Find the sum and asymptotic expansion of $\sum_{u=1}^{\lfloor{N/2}\rfloor} \sum_{v=1}^{\lfloor{\sqrt{N}}\rfloor} \left[|u^2-2v| \le N\right] \left[|-2uv| \le N\right]$.

I suspect that there may be a closed form solution. I have not made any progress to the analytic form of this sum.

I have some table values

N Sum
1 0
10 10
10^2 100
10^3 981
10^4 10000
10^5 99928

This indicates that the sum approach $N$ as $N \rightarrow \infty$.

The second part is to find this asymptotic expansion.

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Lets look at a table between perfect squares. Say from N = 16 to 24. Then

N Sum Difference
16 16 0
17 17 0
18 17 1
19 18 1
20 18 2
21 19 2
22 19 3
23 20 3
24 20 4

This pattern repeats for each perfect square sequence.

So with ${S}_{1} \left({N}\right) = \sum_{u=1}^{\lfloor{N/2}\rfloor} \sum_{v=1}^{\lfloor{\sqrt{N}}\rfloor} \left[{|u^2-2v| \le N}\right] \left[{|-2u| v \le N}\right]$.

Then consider two consecutive perfect squares $\sqrt{N} \in \mathbb{Z}$ or $N = {n}^{2}$ to $N = \left({n + 1}\right)^{2}$. Then from $N = {n}^{2}$ to $\left({n +1}\right)^{2} - 1$ there are $2\, n$ values. Let $k \in \left\{{0, 1, \cdots, 2\, n}\right\}$. Then for the values ${S}_{1} \left({{n}^{2}}\right.$, ${n}^{2} + 1$, $\cdots$, $\left.{\left({n +1}\right)^{2} - 1}\right) = N - \lfloor{k/2}\rfloor$. The sequence of $k = 0$ to $2\, n$ is $\lfloor{k/2}\rfloor = \lfloor{(N-\lfloor{\sqrt{N}}\rfloor^{2})/2}\rfloor$. Thus, applying induction, we can write for any perfect square interval $N \ge 9$

$${S}_{1} \left({N}\right) = N - \lfloor{\frac{N-\lfloor{\sqrt{N}}\rfloor^{2}}{2}}\rfloor$$

We add the final corrections for the values of $N \in \left\{{1, 2, 3, 5}\right\}$ resulting in

$${S}_{1} \left({N}\right) = N - \lfloor{\frac{N-\lfloor{\sqrt{N}}\rfloor^{2}}{2}}\rfloor - {\delta}_{N \in \left\{{1, 2, 3}\right\}} - {\delta}_{N=5}$$

For the asymptotic values as $N \rightarrow \infty$ we write the average value between two perfect squares of

$$\left<{\lfloor{\frac{N-\lfloor{\sqrt{N}}\rfloor^{2}}{2}}\rfloor}\right> = \frac{\text{sum of interval}}{2 \times \text{ length of the interval}}= \frac{\lfloor{\sqrt{N}}\rfloor^{2}-1}{2(\lfloor{\sqrt{N}}\rfloor+2)}\sim\frac{N-1}{2(\sqrt{N}+2)}\sim\frac{1}{2} \sqrt{N}-1+O(\frac{1}{N})$$

with the final answer

$${S}_{1}\left({N}\right) \sim N - \frac{1}{2} \sqrt{N}+1+O(\frac{1}{N})$$