Replace the paramiko implementation with direct Popen calls for ssh

Paramiko is very strict about authentication, and we cannot figure out what configuration settings we must set in order to have ssh calls work with hosts that have properly configured keys. So we are replacing Paramiko with bare ssh calls from Popen.

this commit fixes #16 
We can remove the connect and close methods, because the only reason why we had them in the first place was because of paramiko.