Add MonadIO instance for SignalGen

Is there any reason why `SignalGen` isn't an instance of `MonadIO`? `execute` seems to satisfy the `MonadIO` laws:

```
1) execute . return = return

    execute . return
    = \x -> execute (return x)
    = \x -> SG (\_ -> return x)

    return
    = \x -> SG (\_ -> return x)

2) execute (m >>= f) = execute m >>= execute . f

    execute (m >>= f)
    = SG (\_ -> m >>= f)

    execute m >>= execute . f
    = SG (\_ -> m) >>= execute . f
    = SG (\p -> (\_ -> m) p >>= \x -> unSG (execute (f x)) p)
    = SG (\p -> m >>= \x -> unSG (execute (f x)) p)
    = SG (\p -> m >>= \x -> unSG (SG (\_ -> f x)) p)
    = SG (\p -> m >>= \x -> (\_ -> f x) p)
    = SG (\_ -> m >>= \x -> f x)
    = SG (\_ -> m >>= f)
```

I think the same applies to `FRP.Elerea.Clocked` and `FRP.Elerea.Param`.