Improve codebase

[x3c41a]

While running ahm we encountered several errors which led us think that we should improve our codebase:
a96d27051a7e529cfa026a9472377b7faa4e968f1b4a776995ac7f05acef7d0eR162-R170) + pipe their outputs to files

• Replaced console.log with winston logger throughout the codebase #142
• Added cascading process termination #143
• use a unified helper function to spawn sub-commands
• cleanup previous ZB folders
• rename orchestrator to controller throughout the codebase
• stick to either of PAPI or PJS apis (if possible)