Looked up your OBD II code for your Explorer and got the following: Bank 1 Sensor 1
The possible causes are listed below per Chilton: *same result for all engines available on your vehicle
Trouble Code: P0141 (4.0L V6 VIN E Auto)HO2S-11 Heater Circuit (Bank 1, Sensor 1)
Print this code data
Number of Trips to Set Code:
OBD II Monitor Type: CCM DetailsIndicators: MIL Details
Trouble Code Conditions:
During testing the heated oxygen sensor (HO2S) heaters are checked for open and short circuits and excessive current draw. The test fails when the current draw exceeds a calibrated limit or an open or short circuit is detected.
Vacuum hose disconnected on exhaust gas recirculation (EGR) system module (ESM) applications* Short to VPWR in the harness or HO2S
Water in the harness connector
Open VPWR circuit
Open GND circuit
Low battery voltage
Corrosion or incorrec
The sensors themselves appear in the illustration linked to below. The illustration is for the Ford Ranger but indications are that other models have similar locations. Hope this helps with your problem. Best of luck!