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Replace 'signature' argument in apply_ufunc with *_core_dims (#1245)

* Replace 'signature' argument to apply_func with *_core_dims

This results in a much easier to use function signature than the previous
`signature` argument which required triply nested lists.

e.g., new:

    def inner_product(a, b, dim):
        return apply_ufunc(_inner, a, b, input_core_dims=[[dim], [dim]])

vs. old:

    def inner_product(a, b, dim):
        return apply_ufunc(_inner, a, b, signature=[[[dim], [dim]], []])

* Remove use of lambdas to please flake8

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