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I found this lifting body shuttle design on the NTRS, the design appears to incorporate boost-glide design principles. The launch booster is not described in any detail, but seems to be a custom design rather than a Saturn or Titan.
Aerodynamic Characteristics For A Booster-Launched Folding-Wing Entry Vehicle Suitable For Sustained Operation As A Supersonic Aircraft (January 1963)
http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19700078267_1970078267.pdf
I found this lifting body shuttle design on the NTRS, the design appears to incorporate boost-glide design principles. The launch booster is not described in any detail, but seems to be a custom design rather than a Saturn or Titan.
Aerodynamic Characteristics For A Booster-Launched Folding-Wing Entry Vehicle Suitable For Sustained Operation As A Supersonic Aircraft (January 1963)
http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19700078267_1970078267.pdf