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Ensure that the floating rack will fit the cleat exactly, hold the shelf up to the cleat and also do a completely dry fit one that does not involve adhesive or screws. Make any kind of modifications to fit as essential. When you are certain the fit is exact, use wood glue to the top of the cleat, and after that fit the shelf over it. Secure the shelf to the cleat using brads nailed in from the top of the shelf down into the cleat.