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Make sure that the floating rack will fit the cleat precisely, hold the shelf as much as the cleat and do a completely dry fit one that does not entail glue or screws. Make any modifications to fit as required. When you are particular the fit is exact, apply wood glue to the top of the cleat, and also then fit the rack over it. Secure the shelf to the cleat using brads nailed in from the top of the rack down right into the cleat.