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Ensure that the floating rack will fit the cleat exactly, hold the rack approximately the cleat and also do a dry fit one that doesn't include adhesive or screws. Make any adjustments to fit as needed. When you are specific the fit is exact, use wood glue to the top of the cleat, and afterwards fit the rack over it. Protect the shelf to the cleat using brads toenailed in from the top of the shelf down into the cleat.