1. add device util to verify, create and place device
2. pipeline and trainer support update
3.  fix pipeline which use tf models does not place model to the right device

usage

```python
pipe = pipeline('damo/xxx', device='cpu')
pipe = pipeline('damo/xxx', device='gpu')
pipe = pipeline('damo/xxx', device='gpu:0')
pipe = pipeline('damo/xxx', device='gpu:2')
pipe = pipeline('damo/xxx', device='cuda')
pipe = pipeline('damo/xxx', device='cuda:1')
```
 Link: https://code.alibaba-inc.com/Ali-MaaS/MaaS-lib/codereview/9800672