Is there any way to create a second level of security using a new module or existing modules?

I am using "Apply for Role" module to create different but authenticated roles. I have a section which should be only accessed by one type of authenticated role.

Initially, I have put this section into the navigation so only the authenticated users could access this section but now with the creation of different roles I don't know how to further secure this section.

These are questionnaires created with using the webform module and assigning permissions to roles does not work (user admin/permissions).

Is there a way to work this out?

This is what needs to be achieved:

Anonymous user does NOT access the section A
Authenticated role A does NOT access the section A
Authenticated role B does access the section A

Section A is a page that provide links to a number of online questionnaires.

Thanks in advance