Replace * dependencies to ~x.y.z

In addition to https://github.com/punkave/dox-foundation/pull/51 , it's better to limit jade (and underscore + mkdirp) dependencies to latest minor to reduce the possibility of backward incompatible changes like 'doctype 5' being replaced with 'doctype html'.
Merge pull request #1 from cliffano/patch-2

Replace * dependencies to ~x.y.z