[BUG] Mars supervisor process and the worker process lose each other after the process has been started locally for a while

[ChengjieLi28]

Describe the bug
When start supervisor and worker processes locally:

python -m mars.supervisor -H 127.0.0.1 -p 8092 -w 8091 --log-conf xxx
python -m mars.worker -H 127.0.0.1 -p 8093 -s 127.0.0.1:8092 --log-conf xxx

After a while (a whole night), web ui cannot find supervisor and worker:


And console cannot see any error.
When this happens and try to submit task, the task cannot be execute since supervisor cannot find worker.

To Reproduce
To help us reproducing this bug, please provide information below:

1. Your Python version: 3.9.12
2. The version of Mars you use: newest
3. Versions of crucial packages, such as numpy, scipy and pandas: follow mars
4. Full stack of the error.
   Cannot see any error.
5. Minimized code to reproduce the error.
   See description.