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Make sure that the floating rack will fit the cleat precisely, hold the shelf up to the cleat and do a dry fit one that does not entail glue or screws. Make any adjustments to fit as needed. When you are certain the fit is accurate, use timber adhesive to the top of the cleat, and afterwards fit the rack over it. Secure the rack to the cleat using brads nailed in from the top of the shelf down into the cleat.