SPARK-1154: Clean up app folders in worker nodes

This is a fix for [SPARK-1154](https://issues.apache.org/jira/browse/SPARK-1154).   The issue is that worker nodes fill up with a huge number of app-* folders after some time.  This change adds a periodic cleanup task which asynchronously deletes app directories older than a configurable TTL.

Two new configuration parameters have been introduced:
  spark.worker.cleanup_interval
  spark.worker.app_data_ttl

This change does not include moving the downloads of application jars to a location outside of the work directory.  We will address that if we have time, but that potentially involves caching so it will come either as part of this PR or a separate PR.