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Make certain that the floating rack will fit the cleat exactly, hold the rack up to the cleat and do a dry fit one that doesn't include adhesive or screws. Make any type of changes to fit as needed. When you are certain the fit is accurate, use timber glue to the top of the cleat, and afterwards fit the shelf over it. Protect the rack to the cleat using brads toenailed in from the top of the rack down into the cleat.