Raise minimum requirements

[cgohlke]

Description

This PR proposes to

• drop support for Python 3.10 (closes Drop support for Python 3.10 #207)
• update minimum requirements according to SPEC 0 — Minimum Supported Dependencies
• update versions used in pre-commit and GitHub Actions
• fix some warnings by latest setuptools
• add scikit-learn as a dependency (for WIP: Add phasor_cluster_gmm function #201)
• mention Google Colab in introductory tutorial

Checklist

• The pull request title and description are concise.
• Related issues are linked in the description.
• New dependencies are explained.
• The source code and documentation can be distributed under the MIT license.
• The source code adheres to code standards.
• New classes, functions, and features are thoroughly tested.
• New, user-facing classes, functions, and features are documented.
• New features are covered in tutorials.
• No files other than source code, documentation, and project settings are added to the repository.

[bruno-pannunzio]

Great @cgohlke, everything looks fine to me! Good to add the option of google colab in the introduction tutorial, specially for beginners or newcomers.