Explain how TLS and SSL ensure secure data transmission over the Internet

Cryptographic protocols like TLS and SSL are essential for secure online communications, but they rely on several key components to function effectively. Answer all of the following prompts.

Explain how TLS and SSL ensure secure data transmission over the Internet.
Discuss the roles of authentication and authorization in these protocols.
How do digital certificates and public key infrastructure (PKI) contribute to verifying identities and establishing trust between parties?
Introduce the concept of zero-knowledge proofs and explain how they can be applied to authentication systems without revealing sensitive information. In what scenarios might zero-knowledge proofs offer advantages over traditional authentication methods?